CN107438799B - Unmanned plane analogue system, unmanned plane emulation mode and unmanned plane - Google Patents
Unmanned plane analogue system, unmanned plane emulation mode and unmanned plane Download PDFInfo
- Publication number
- CN107438799B CN107438799B CN201680004727.4A CN201680004727A CN107438799B CN 107438799 B CN107438799 B CN 107438799B CN 201680004727 A CN201680004727 A CN 201680004727A CN 107438799 B CN107438799 B CN 107438799B
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- battery
- status information
- model
- emulation
- 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.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
A kind of analogue system, unmanned plane, unmanned plane emulation mode and unmanned plane simulator, the analogue system includes: battery model (102), for the status information and the battery status information of last moment according to last moment of unmanned plane, simulation calculates the battery status information of subsequent time；And state model (101), for according to the status information of last moment of unmanned plane and the battery status information of subsequent time, simulation to calculate the status information of subsequent time.The analogue system emulates the operation of unmanned plane using battery parameter as a part of analogue system, keeps emulation more fitting practical.
Description
Technical field
The present invention relates to a kind of unmanned plane emulation technologies more particularly to a kind of unmanned plane analogue system and method and use should
The unmanned plane of unmanned plane emulation mode.
Background technique
Now with many unmanned plane analogue systems, control signal can be issued using remote controler in operator, then emulated
System can according to control signal and simulate come unmanned plane during flying environment calculate a series of actions of following unmanned plane, can
Unmanned plane is manipulated to facilitate operator to be better understood by and practice, the characteristic of unmanned plane can also be better understood by, reduced various
Unnecessary loss.
However existing unmanned plane emulation can not carry out based on self energy unmanned plane without the emulation for battery
The emulation of aerial mission, the unmanned plane emulation of battery simulation can not take into account the factor of battery, but actually battery
It is an important link in unmanned plane during flying, other external environments such as environment temperature, height above sea level may directly affect the property of battery
The power performance of unmanned plane can be influenced in turn, and the capacity of battery itself also will limit the cruise duration of unmanned plane, and unmanned plane is different
Aerial mission it is also different to the consumption of electricity (always hover and doing always different forms of violence flare maneuver electric current difference very
Greatly), it will cause simulation result in the unmanned plane during flying analogue system of not battery simulation and practical flight result fall far short,
Unmanned plane during flying emulation is caused to lose meaning.
Summary of the invention
In view of this, being imitated it is necessary to provide a kind of unmanned plane analogue system, unmanned plane emulation mode and using the unmanned plane
The unmanned plane of true method.
A kind of analogue system is simulated for the operation to unmanned plane, and the analogue system includes: battery model, is used
In status information and the battery status information of last moment according to last moment of unmanned plane, simulation calculates the electricity of subsequent time
Pond status information；And state model, for according to the status information of last moment of unmanned plane and the battery shape of subsequent time
State information calculates the status information of the unmanned plane subsequent time.
A kind of unmanned plane, including flight control system, the flight control system include analogue system as described above.
A kind of unmanned plane emulation mode, is simulated for the operation to unmanned plane, and the emulation mode includes: in acquisition
The status information of the unmanned plane at one moment and the battery status information of last moment；Believed according to the state of the unmanned plane of last moment
Breath and the battery status information of last moment calculate the battery status information of subsequent time；According to subsequent time battery status information
Calculate the drone status information of subsequent time；And believed according to subsequent time battery status information and subsequent time drone status
Breath adjustment unmanned plane runs task.
A kind of unmanned plane emulation mode includes: the image of display emulation unmanned plane；The control instruction of acquisition user, and according to
The control instruction controls the emulation unmanned plane and carries out analog simulation flight；And the flight course in the emulation unmanned plane
In, the current electric quantity of unmanned plane is emulated described in real-time display.
A kind of unmanned plane simulator includes: display device, for showing the image of emulation unmanned plane；Input unit, with
The display device communication connection, the input unit are used for for user's input control order, to control the emulation unmanned plane
Carry out analog simulation flight；Wherein, in the emulation unmanned plane analog simulation flight course, the display device real-time display
The current electric quantity of the emulation unmanned plane.
The analogue system emulates the operation of unmanned plane using battery parameter as a part of analogue system, makes to imitate
Very more fitting is practical.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for unmanned plane that embodiment of the present invention provides.
Fig. 2 is a kind of module diagram of the flight Simulation System for unmanned plane that embodiment of the present invention provides.
Fig. 3 is a kind of modular structure schematic diagram for state model that embodiment of the present invention provides.
Fig. 4 is a kind of modular structure schematic diagram for battery model that embodiment of the present invention provides.
Fig. 5 is a kind of flow chart for battery simulation method that embodiment of the present invention provides.
Fig. 6 is a kind of battery discharge curve of illustration of battery model of the present invention.
Fig. 7 is another battery discharge curve illustrated of battery model of the present invention.
Fig. 8 is the flow chart for applying a kind of battery simulation method on simulator that embodiment of the present invention provides.
Main element symbol description
Unmanned plane 1
Flight control system 10
Flight Simulation System 100
Dynamic model 101
Kinematics model 102
Kinetic model 103
Battery model 104
Voltage model 1040
Current model 1041
Temperature model 1042
Capacity model 1043
Internal resistance model 1044
Fault model 1045
Life model 1046
Sensor model 105
Noise model 106
Flight control modules 110
Driving device 20
Power device 30
Sensor 40
Data record unit 50
Transceiver 60
Simulator 2
Display device 22
Input unit 24
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
Refering to Figure 1, embodiment of the present invention provides a kind of unmanned plane 1, the unmanned plane 1 can be unmanned vehicle
(Unmanned Aerial Vehicle, UAV), unmanned spacecraft, unmanned boat, unmanned vehicle etc..The unmanned vehicle can be rotation
The aircraft that rotor aircraft, Fixed Wing AirVehicle or fixed-wing are mixed with rotor.Wherein the rotor can be single rotor, bispin
The wing, three rotors, quadrotor, six rotors and eight rotors etc..In the following example, the aircraft 1 is rotor unmanned aircraft.
The unmanned plane 1 includes flight control system 10, driving device 20, power device 30, sensor 40, data record
Unit 50, transceiver 60.
The flight control system 10 is used to generate control instruction to control the flight of the unmanned plane 1, including but unlimited
In flying speed, height, the posture etc. of control unmanned plane 1.The flight control system 10 can be from a unmanned aerial vehicle (UAV) control device (figure
Do not show) control instruction is received, or the previous flying quality that recording unit 50 records based on the data generates control instruction.
Such as: all flight directives are all wirelessly to be sent to the transceiver 60 from remote control person, then pass through described
Transceiver 60 is transmitted to the flight control system 10.In another embodiment, it can also be equipped on the unmanned plane 1 certainly
Inertial Measurement Unit (Inertial Measurement Unit, IMU) can be used in dynamic navigation system, the automated navigation system
Or GPS module so that the unmanned plane according to set airline operation.The flight control system 10 according to by setting in advance
The trajectory planning set and the navigation information of automated navigation system generate control instruction.The flight control system 10 includes flight
Control module 110, the flight control modules 110 are used to control the flight of the unmanned plane according to control instruction.
The driving device 20 can be any driving device that driving force can be generated according to control instruction, such as: motor, packet
Include direct current generator (brush motor or brushless motor), alternating current generator.Power device 30 can be used for being produced according to the driving device 20
Raw driving force makes the unmanned plane 1 take off, land, hover, and rotates in the sky about three translation freedoms and three
Freedom degree movement.In the present embodiment, the power device 30 may include one or more rotors.The rotor may include connection
To one or more rotor blades of a shaft.The rotor blade or shaft can be driven by the driving device 20 and be rotated,
Power is raised to generate the mobile unmanned plane 1.Although in the present embodiment, the power device 30 of the unmanned plane 1 is retouched
State be include one or more rotors, but it is understood that, when unmanned plane is other kinds of platform, power dress
Setting can be other corresponding mechanisms.
The number amount and type of the sensor 40 can be to be multiple, including but not limited to, Inertial Measurement Unit, air pressure sensing
Device, temperature sensor, acceleration transducer, position sensor etc..The sensor 40 passes through wired or wireless mode and institute
The communication connection of flight control system 10 is stated, the flight control system 10 can obtain the unmanned plane 1 from the sensor 40
Various flying qualities, including but not limited to, height, acceleration (pitching, rolling, and yaw), posture, geographical location, speed, outside
Portion's air themperature and/or air pressure etc..In some embodiments, the sensor 40 further includes visual sensor, such as camera
The ambient image etc. in flight course can be obtained from the visual sensor Deng, the flight control system 10.Acquired
Various flying qualities can be recorded to the data record unit 50.The data record unit 50 may also include for storing
State the memory of flying quality.
The transceiver 60 is used for and external equipment, such as mobile terminal or earth station or remote control device wireless communication
Connection, to receive and dispatch flight directive or flying quality.The transceiver 60 can be rf receiver and transmitter.In the embodiment
In, the rf receiver and transmitter can be for for executing the specific integrated circuit for receiving and dispatching microwave signal, running frequency can be
The microwave range of 5.728GHz -5.85GHz.The rf receiver and transmitter can be received and be transmitted radio signal by antenna.
In other embodiments, the transceiver can also use cellular technology, other wireless transmit-receive technologies such as satellite and broadcast.Its
Described in cellular technology may include the mobile communication skills such as the second generation (2G), the third generation (3G), forth generation (4G) or the 5th generation (5G)
Art.
The flight control system 10 further includes flight Simulation System 100, carries out mould for the operation to the unmanned plane 1
It is quasi-, so that operator is better understood by the characteristic of the unmanned plane 1, to preferably practice and manipulate the unmanned plane 1.It is described
Simulator 2 is for being arranged simulation parameter and/or receiving state of flight information to show the state of flight information in described imitative
On true device 2.Illustratively, the simulator 2 can be desktop computer, laptop computer, tablet computer, smart phone
Deng.The simulator 2 can be communicated to connect by the communications such as mobile communication technology and the unmanned plane 1.It is described
Simulator 2 may include, but be not limited to, display device 22.The display device 22 can be used for showing the image of emulation unmanned plane
And state of flight information.The display device 22 can be communicated to connect with an input unit 24, for receiving the input unit 24
The instruction of sending.Described instruction may include simulation parameter, flight control instruction etc..The input unit 24 can be hand-held device
The operating parts of touch screen or remote controler.In other embodiments, the input unit 24 can also be the one of the simulator 2
Part, for example, the keyboard or touch screen that are arranged on the simulator 2.
It please refers to shown in Fig. 2, flight Simulation System 100 provided by the present invention may include, but be not limited to, state model
101 and battery model 102.The state model 101 is used for according to the type of aircraft and the kinetic parameter of each power device,
The kinetic parameter of entire aircraft is calculated, it being capable of the status information that runs in certain circumstances of simulation output unmanned plane.The battery
Model 102, can be according to the last moment of unmanned plane for the relationship between simulated battery state and the status information of unmanned plane
The battery status information of status information and last moment, simulation calculate the battery status information at current time.The battery model
The hair of 102 electric current, voltage, temperature, capacity, the variation of internal resistance and the failures that can have present battery according to current flight state computation
The data such as raw.
It is understood that the flight Simulation System 100 can also be according to the different parameters needed to the analogue system
Model is increased and decreased, and needs just to need to be added when higher precision more other parameter models, when not high to required precision
When can reduce partial parameters model.
It please refers to shown in Fig. 3, the state model 101 may include, but be not limited to, dynamic model 1010, kinematics model
1012, kinetic model 1014, sensor model 1016 and noise model 1018.Wherein, the dynamic model 1010 is defined as
A model of propeller lift is obtained according to the various coefficients of motor speed and propeller；The kinetic model 1014 is root
According to the type of aircraft and the kinetic parameter of each paddle, the kinetic parameter of entire aircraft is calculated；The kinematics model 1012 is
The parameters such as the next posture position of aircraft are calculated according to the external force that aircraft is subject to；The sensor model 1016 is used for according to winged
The parameters such as the posture position of machine obtain the data of sensor and the noise data that the noise model 1018 exports are added；It is described
Noise model 1018 is used for according to the calculated sensing data output noise data of the sensor model 1016.In some realities
It applies in example, the dynamic model 1010 can be merged into a model, the dynamic model with the kinetic model 1014
1010 be for for single power device (such as single propeller), and the kinetic model 1014 is to be directed to entire fly
For machine, for example, 6 axis, 8 axis aircrafts etc..
It please refers to shown in Fig. 4, one embodiment of battery model 102 provided by the invention includes voltage model 1020, electricity
Flow model 1021, temperature model 1022, capacity model 1023, internal resistance model 1024, fault model 1025 and life model 1026.
The voltage model 1020 is used to go out according to current flight state computation the voltage of each battery core and total electricity of battery
Pressure.
The current model 1021 is used to go out according to current flight state computation the electric current and battery of battery each battery core
Total current, the model can in true simulated flight device flight course each battery core curent change.
It is current that the temperature model 1022 is used to calculating battery according to information such as current environmental temperature and battery currents
Temperature, the model can temperature changes in true simulated battery use process.
The capacity model 1023 is for the variation of true simulated battery electricity and the variation of each battery power.
The internal resistance model 1024 is used to calculate the internal resistance of battery according to information such as current environmental temperature and battery temperatures,
Can in true simulated battery use process internal resistance variation.
The fault model 1025 is used to occur different events according to the failure rate simulated battery of the different faults type of setting
The case where barrier, can be convenient operation logic of the testing flying vehicle in battery failures, can be convenient developer and quickly test
Aircraft operation logic can also help user to quickly understand how this rare is handled in special circumstances.
The life model 1026 is used to calculate the service life of battery, electricity according to the charge and discharge number and other parameters of battery
The service life in pond will affect other parameter models, this can also really simulate the reduction battery performance with battery life
Variation.
It is understood that the state model 101 and the battery model 102 can also be according to different needs to the shape
The parameter model of states model 101 and the battery model 102 is increased and decreased, need just to need to be added when higher precision it is more its
His parameter model can reduce partial parameters model when not high to required precision when.
Fig. 5 is a kind of flow chart for flight simulation method that embodiment of the present invention provides.According to different demands, the process
The sequence of step can change in figure, and certain steps can be omitted or merge.
Step 402, flight simulation parameter is set.In some embodiments, the flight simulation parameter can be preset
Default value.In further embodiments, the initial value of the flight simulation parameter also can receive from the simulator 2.Institute
The parameter that flight simulation parameter includes, but are not limited to battery model 102 is stated, such as: battery core voltage, battery rated capacity, battery
The battery parameters such as internal resistance, standby current, initial temperature, initial quantity of electricity, charge and discharge number.In other embodiments, described to fly
Row simulation parameter can also include flight environmental parameter and or flight trajectory planning etc..The environmental parameter of the flight includes
Atmospheric gas pressure, temperature, wind speed, wind direction, longitude, latitude etc. are set.
Step 404, the drone status information and battery status information of last moment are obtained.The drone status information
From other simulation models of the flight Simulation System, including but not limited to, dynamic model 1010, kinematics model
1012, kinetic model 103, battery model 102, sensor model 1016 and noise model 1018.An implementation of the invention
Example can be, and based on trajectory planning and/or environment setting set in step 402, the kinematics model 1012 is calculated
Mobile power (i.e. lift) needed for aircraft；The dynamic model 1010 and the kinetic model 103 are according to the kinematics mould
Mobile power needed for the aircraft that type 1012 is calculated calculates the various coefficients of motor speed and propeller.The sensor
Model is calculated according to set trajectory planning and/or environment setting, the dynamic model 1010 and the kinetic model 103
The status information of the various coefficient calculating aircrafts of motor speed and propeller out, include, but are not limited to angle, angular speed,
Speed, height, posture, course, longitude, latitude etc..
Step 406, it is calculated according to set flight initial parameter and acquired last moment drone status information
Subsequent time battery status information.
Specifically, subsequent time electricity is calculated according to flight initial parameter and acquired last moment drone status information
One of embodiment of pond status information can be, and the voltage model 1020 is according to acquired state of flight information and ring
The voltage change for calculating battery in flight course is arranged in border.For example, in different environments, the discharge curve of battery is that have difference
Different.It please refers to shown in Fig. 6 and Fig. 7, changes for the discharge curve of battery because of the difference of environment temperature.Under normal temperature environment,
The discharge curve of battery is as the reduction voltage of electricity gradually declines, and in subzero 10 degree of environment, the electric discharge of battery is bent
Line is fallen after rising.Such as discharge curve shown in Fig. 6 is electricity when full electric lithium battery discharges in the environment of room temperature
Capacity curve is pressed, voltage only has 4.35 or so when battery is fully charged, and as discharge time increases, the voltage of battery also can be with
Decline, the capacity of battery can also decline therewith.Such as discharge curve (#1, #2, #3, #4, #5 curve) shown in fig. 7 is full
Voltage capacity curve when the lithium battery of electricity is discharged in subzero 10 degree of environment with different discharge currents, battery are full of
Voltage only has 3V or so when electric, and as discharge time increases, the temperature of battery rises, and the voltage of battery also can be on
It rises, this part of test data above explains why voltage is very low, but the very high phenomenon of volume percent.Pass through the electricity
The simulation calculation of pressing mold type 1020 can simulate the voltage change under varying environment, facilitate developer's test in this ring
(because low-voltage will affect the flight of aircraft, such as lift will receive influence to Flight Control Algorithm under border, but electricity is at this time
Or it is very much, so not needing to execute these movements of making a return voyage), user's more intuitive understanding on the other hand can be allowed to this
Situation, to preferably control the flight of aircraft.
The capacity model 1023 according to the drone status information of acquired last moment, battery status information and/
Or set environmental parameter calculates the volume change of battery in flight course.Can specifically it join shown in Fig. 6 and Fig. 7, battery holds
Amount is gradually reduced with the passage of simulation time.Under different environment temperatures, the depletion rate of battery capacity can be different, lead to
For often, under colder environment, the consumption of battery capacity can faster.Speed, acceleration, wind speed of flight etc. all can be to batteries
The consumption of capacity impacts, for example, the revolving speed of the motor can correspondingly increase, to be disappeared when flight instantaneous acceleration is big
The battery capacity of consumption also can be increased accordingly.
The current model 1021 is according to the ratio calculation of the capacity model 1023 calculated volume change and time
Out in unmanned plane operational process battery curent change.
The temperature model 1022 is calculated according to set environment temperature and calculated battery current change information
The temperature change of battery in unmanned plane operational process.Environment temperature height can make battery temperature increase, charging/discharging voltage
Or electric current flows through and can also battery temperature be made to increase greatly.
The internal resistance model 1024 is calculated according to environment temperature in unmanned plane operational process and battery temperature change information
The internal resistance change information of battery in unmanned plane operational process.For example, environment temperature and battery temperature can cause the internal resistance of cell to change,
The internal resistance of cell becomes larger meeting so that battery temperature raising, influences battery.
The fault model 1025 be used for according to curent change in calculated unmanned plane operational process, temperature change
And internal resistance variation, set environmental parameter and/or aerial mission or trajectory planning calculate battery and the possibility of different faults occur
Property.For example the circuit of possible battery will disconnect connection when controller.
The life model 1026 is used for according to the charge and discharge number and other parameters of battery (such as environment setting, flight
Status information etc.) to battery life influence calculate battery life variation.For example, environment temperature have to service life of lithium battery it is larger
Influence.Environment below freezing is there is a possibility that lithium battery is burnt in the moment that electronic product is opened, and the environment overheated can then contract
The capacity in powered down pond.For another example, current of electric when state of flight will affect the discharge current of battery, excessive discharge voltage or
Discharge current can all reduce battery.
The sensor model 1016 is used to obtain the data of sensor according to parameters such as the posture positions of aircraft and adds
Enter the noise data that the noise model 1018 exports；The noise model 1018 is based on according to the sensor model 1016
The sensing data output noise data of calculating.
Step 408, flying for subsequent time is calculated according to the battery status information for the subsequent time being calculated in step 406
Row status information.It is that unmanned plane simulation kernel calculates according to the state of flight that battery status information calculates next moment, meter
The foundation of calculation is mainly cell voltage, and the electric current of battery capacity and battery, the state of flight calculated includes but is not limited to nothing
The electric current of man-machine motor, because electric current will affect the voltage and capacity of subsequent time.
It for example is exactly that, if current time cell voltage 12V, there are also 1000mah, the electric currents of aircraft to be for battery capacity
5A, current aircraft keep floating state, then the simulation kernel of unmanned plane first calculates the lift that hovering needs, are obtained according to lift
The revolving speed that unmanned plane propeller needs, according to revolving speed and motor model, there are also current voltages can learn that motor needs great electricity
Stream could maintain the revolving speed needed, that is, the electric current (for example 6A) of next moment aircraft, then can calculate next
The capacity (1000mah -6000ma*0.02/3600H) of a moment battery, the voltage model of battery is it can be concluded that capacity and voltage
Relationship, it is contemplated that internal resistance of cell model and current model are it can be concluded that the voltage at actual battery both ends (for example becomes
11.9V), then ceaselessly cycle calculations so again.
Step 410, the flight control modules are according to the battery status information of the subsequent time and flying for subsequent time
Row status information adjusts aerial mission.It is assumed that it is T0 that current control period, which starts time point, at the end of be T1, when simulation a length of T, then
Upper data of the calculated battery status information between T0 the and T1 period, at the end of current control period, i.e. when T1
The battery status information of point is the state of flight information that can be used to calculate next control period.
Adjusting aerial mission according to the state of flight information of the battery status information of the subsequent time and subsequent time can
To be automatically, to be also possible to based on user's operation.Several scenes below such as:
Unmanned plane execute destination task, whole process be all it is unwatched, have several automatic charging base stations, nothing between destination
It finds that current electric quantity can only arrive to get at up to nearest charging base station during man-machine execution destination task and carries out replacement battery
When will execute replacement cell commands automatically, replacement battery, which continues to return to destination after completing, executes order.
User is carrying out operation of taking photo by plane, and unmanned plane discovery current residual electricity is merely able to making a return voyage a little for return recording at this time
When just will pop up prompting frame and remind user, current electric quantity can only make a return voyage, and request carries out operation of making a return voyage, if certain user feel
It must not need to make a return voyage a little to can choose not execute yet and make a return voyage.
It please refers to shown in Fig. 8, for the flow chart of the emulation mode 800 applied to the simulator 2.
Step 802, the simulator 2 obtains the state model parameter of emulation unmanned plane and/or emulates the electricity of unmanned plane
Pool model parameter.Wherein the battery model parameter may include, but be not limited to, battery core voltage, battery design capacity, internal resistance, to
Electromechanics stream, initial temperature, initial quantity of electricity, charge and discharge number.The state model parameter may include, but be not limited to, and motor moves
Force parameter, the kinetic parameter of propeller.The state model parameter and/or the battery model parameter of the emulation unmanned plane can lead to
It crosses and is inputted with the operating parts of the touch display screen of the hand-held device of the simulator 2 communication connection or remote controler.
In some embodiments, the simulator 2 can also obtain environmental parameter, and the environmental parameter may include, but not
It is limited to, atmospheric gas pressure, temperature, wind speed, wind direction, longitude, latitude etc..
In some embodiments, the simulator 2 can also obtain the status information of last moment emulation unmanned plane, described
The status information of emulation unmanned plane includes, but are not limited to angle, angular speed, speed, height, posture, course, longitude, latitude
Deng.
In some embodiments, the simulator 2 can also obtain the battery status information of last moment, described upper a period of time
The battery status information at quarter may include, but be not limited to, battery current, voltage, temperature, internal resistance, capacity.
In some embodiments, the simulator 2 can also obtain aerial mission or trajectory planning, be appointed according to the flight
Business or trajectory planning, the emulation unmanned plane can carry out analog simulation flight automatically.
The upper environmental parameter and/or the status information of last moment emulation unmanned plane, the battery status of last moment letter
Breath, aerial mission or trajectory planning can be by the touch display screens of the hand-held device communicated to connect with the simulator 2 or distant
Control the operating parts input of device.
In some embodiments, the status information of the upper last moment emulation unmanned plane, the battery shape of last moment
State information can also come be originated from it is described emulation unmanned plane flight control system.
Step 804, the simulator 2 passes through the image for the display device display emulation unmanned plane being arranged thereon.It is described
Emulating unmanned plane can be true unmanned plane or unmanned plane simulation model.
Step 806, the simulator 2 receives user instructions, control emulation unmanned plane simulated flight.In other embodiments
In, it is also possible to preset aerial mission or trajectory planning, the emulation unmanned plane is according to the pre-set aerial mission
Or trajectory planning carries out analog simulation flight.In some embodiments, it can also be emulation unmanned plane according to aerial mission or boat
Mark planning is automatic to carry out analog simulation flight, and in the analog simulation flight course, the simulator 2 can be according to user
The flight of the emulation unmanned plane is intervened in input.
Step 808, the battery status information of 2 real-time display of the simulator emulation unmanned plane.The real-time display
The status information of unmanned plane can be originated from the emulation unmanned plane.
Step 810, the simulator 2 judges whether battery capacity deficiency.For example, when battery current electric quantity is only sufficient to maintain
It makes a return voyage or lower than making a return voyage when electricity demand, the simulator 2 can determine whether battery capacity deficiency.
Step 812, the simulator 2 issues the prompt information of not enough power supply, the prompt information can by sound or
Visual manner output, such as the caution sound or flashing light, voice broadcast etc. of loudspeaker output.
In addition, for those of ordinary skill in the art, can make in accordance with the technical idea of the present invention other each
Kind changes and modifications, and all these changes and deformation all should belong to the protection scope of the claims in the present invention.
Claims (51)
1. a kind of analogue system is simulated for the operation to unmanned plane, it is characterised in that: the analogue system includes:
Battery model, for the status information and the battery status information of last moment according to last moment of unmanned plane, simulation
Calculate the battery status information of subsequent time；And
State model, for according to the status information of last moment of unmanned plane and the battery status information of subsequent time, meter
Calculate the status information of the unmanned plane subsequent time.
2. analogue system as described in claim 1, it is characterised in that: the battery status information include battery current, voltage,
One or more of temperature, internal resistance, capacity.
3. analogue system as described in claim 1, it is characterised in that: the battery model includes capacity model, the capacity
Model calculates electric in subsequent time unmanned plane operational process according to last moment drone status information and environmental parameter simulation
The volume change in pond.
4. analogue system as claimed in claim 3, it is characterised in that: the battery model includes current model, the electric current
Model calculates battery in unmanned plane operational process according to the calculated volume change of the capacity model and the simulation of the ratio of time
Curent change.
5. analogue system as claimed in claim 4, it is characterised in that: the battery model includes temperature model, the temperature
Model according in environmental parameter environment temperature and calculated battery current change information calculate the temperature change of battery.
6. analogue system as claimed in claim 5, it is characterised in that: the battery model includes internal resistance model, the internal resistance
Model calculates the internal resistance change information of battery according to environment temperature in unmanned plane operational process and battery temperature change information.
7. analogue system as claimed in claim 6, it is characterised in that: the battery model includes fault model, the failure
Model be used for according to curent change in calculated unmanned plane operational process, temperature change and internal resistance variation, environmental parameter
And/or aerial mission or trajectory planning calculate battery in unmanned plane operational process and a possibility that different faults occur.
8. analogue system as claimed in claim 3, it is characterised in that: the environmental parameter includes atmospheric gas pressure, temperature, wind
One or more of speed, wind direction, longitude, latitude.
9. analogue system as claimed in claim 3, it is characterised in that: the battery of the drone status information and last moment
Status information derives from the simulator connecting with the UAV Communication.
10. analogue system as described in claim 1, it is characterised in that: the status information of the last moment of the unmanned plane and
For recording fortune on the sensor or the unmanned plane that the battery status information of last moment is arranged on the unmanned plane
The data recording equipment of row status information.
11. analogue system as described in claim 1, it is characterised in that: the analogue system includes kinematics model, the fortune
The dynamic external force calculating next posture position information of unmanned plane learning model and being subject to according to unmanned plane.
12. analogue system as described in claim 1, it is characterised in that: the analogue system includes sensor model, the biography
Sensor model is used to calculate sensing data according to the posture position information of aircraft.
13. analogue system as claimed in claim 12, it is characterised in that: the analogue system includes noise model, described to make an uproar
Acoustic model is used to calculate noise data according to the calculated sensing data of the sensor model.
14. analogue system as described in claim 1, it is characterised in that: the analogue system includes dynamic model, the power
Model calculates propeller lift according to the various coefficients of motor speed and propeller.
15. analogue system as described in claim 1, it is characterised in that: the analogue system includes kinetic model, described dynamic
Mechanical model calculates the kinetic parameter of entire aircraft according to the type of aircraft and the kinetic parameter of each paddle.
16. analogue system as described in claim 1, it is characterised in that: the status information of the unmanned plane includes angle, angle speed
One or more of degree, speed, height, posture, course, longitude, latitude.
17. a kind of unmanned plane, including flight control system, it is characterised in that: the flight control system includes such as claim 1
To 16 described in any item analogue systems.
18. unmanned plane as claimed in claim 17, it is characterised in that: the unmanned plane includes power device, the power dress
It sets including rotor.
19. a kind of unmanned plane emulation mode, is simulated for the operation to unmanned plane, it is characterised in that: the emulation mode
Include:
Obtain the status information and the battery status information of last moment of the unmanned plane of last moment；
The battery of subsequent time is calculated according to the battery status information of the status information of the unmanned plane of last moment and last moment
Status information；
The drone status information of subsequent time is calculated according to subsequent time battery status information；And
Task is run according to subsequent time battery status information and subsequent time drone status information adjustment unmanned plane.
20. unmanned plane emulation mode as claimed in claim 19, it is characterised in that: further include setting environmental parameter, the ring
Border parameter includes one or more of atmospheric gas pressure, temperature, wind speed, wind direction, longitude, latitude.
21. unmanned plane emulation mode as claimed in claim 19, it is characterised in that: further include setting unmanned plane during flying task or
Trajectory planning, the unmanned plane fly automatically according to the aerial mission or trajectory planning.
22. unmanned plane emulation mode as claimed in claim 19, it is characterised in that: the drone status information and upper a period of time
The battery status information at quarter derives from the simulator connecting with the UAV Communication.
23. unmanned plane emulation mode as claimed in claim 19, it is characterised in that: the drone status information and upper a period of time
For recording operating status on the sensor or the unmanned plane that the battery status information at quarter is arranged on the unmanned plane
The data recording equipment of information.
24. unmanned plane emulation mode as claimed in claim 19, it is characterised in that: the battery status information includes battery electricity
One or more of stream, voltage, temperature, internal resistance, capacity.
25. unmanned plane emulation mode as claimed in claim 19, it is characterised in that: the status information of the unmanned plane includes angle
One or more of degree, angular speed, speed, height, posture, course, longitude, latitude.
26. unmanned plane emulation mode as claimed in claim 19, it is characterised in that: described " according to the unmanned plane of last moment
Status information and the battery status information of last moment calculate subsequent time battery status information " include according to last moment
Drone status information and environmental parameter simulation calculate the volume change of battery in subsequent time unmanned plane operational process.
27. unmanned plane emulation mode as claimed in claim 26, it is characterised in that: described " according to the unmanned plane of last moment
Status information and the battery status information of last moment calculate subsequent time battery status information " include according to capacity model
The simulation of the ratio of calculated volume change and time calculates the curent change of battery in unmanned plane operational process.
28. unmanned plane emulation mode as claimed in claim 27, it is characterised in that: described " according to the unmanned plane of last moment
Status information and the battery status information of last moment calculate subsequent time battery status information " include according to environmental parameter
In environment temperature and calculated battery current change information calculate the temperature change of battery in unmanned plane operational process.
29. unmanned plane emulation mode as claimed in claim 28, it is characterised in that: described " according to the unmanned plane of last moment
Status information and the battery status information of last moment calculate subsequent time battery status information " include being transported according to unmanned plane
Environment temperature and battery temperature change information during row calculate the internal resistance change information of battery.
30. unmanned plane emulation mode as claimed in claim 29, it is characterised in that: described " according to the unmanned plane of last moment
Status information and the battery status information of last moment calculate the battery status information of subsequent time " include according to being calculated
Unmanned plane operational process in curent change, temperature change and internal resistance variation, environmental parameter and/or aerial mission or track rule
It draws battery in calculating unmanned plane operational process and a possibility that different faults occurs.
31. unmanned plane emulation mode as claimed in claim 19, it is characterised in that: wherein " according to subsequent time battery status
Information and subsequent time drone status information adjustment unmanned plane run task " it is based on user instruction.
32. unmanned plane emulation mode as claimed in claim 19, it is characterised in that: wherein " according to subsequent time battery status
Information and subsequent time drone status information adjustment unmanned plane run task " it is unmanned plane according to aerial mission or trajectory planning
And subsequent time battery status information, subsequent time drone status information carry out automatically.
33. a kind of unmanned plane emulation mode characterized by comprising
The image of display emulation unmanned plane；
The control instruction of user is obtained, and the emulation unmanned plane is controlled according to the control instruction and carries out analog simulation flight；
And
In the flight course of the emulation unmanned plane, the current electric quantity of unmanned plane is emulated described in real-time display；
Wherein, the unmanned plane emulation mode further include: before the image of display emulation unmanned plane, acquisition is described to emulate nobody
The battery model parameter of the state model parameter of machine and/or the emulation unmanned plane；And
It obtains the status information of emulation unmanned plane last moment and/or emulates the status information of the battery last moment of unmanned plane；
Wherein, battery model is used for the status information and the battery shape of last moment of the last moment according to the emulation unmanned plane
State information, simulation calculate the battery status information of subsequent time；
According to the status information of the last moment of unmanned plane and the battery status information of subsequent time, calculate under the unmanned plane
The status information at one moment.
34. unmanned plane emulation mode as claimed in claim 33, it is characterised in that: the battery model parameter include such as down toward
Few one kind: battery core voltage, battery design capacity, internal resistance, standby current, initial temperature, initial quantity of electricity, charge and discharge number.
35. unmanned plane emulation mode as claimed in claim 33, it is characterised in that: the state model parameter include such as down toward
Few one kind: the kinetic parameter of motor, the kinetic parameter of propeller.
36. unmanned plane emulation mode as claimed in claim 33, it is characterised in that: the state model parameter and/or described
The battery model parameter for emulating unmanned plane passes through the touch display screen of hand-held device or the operating parts input of remote controler.
37. unmanned plane emulation mode as claimed in claim 33, it is characterised in that: the state model parameter passes through true nothing
It is obtained in man-machine flight control system.
38. unmanned plane emulation mode as claimed in claim 33, it is characterised in that: the unmanned plane emulation mode further include:
The environmental parameter of simulated flight is obtained, the environment that the state of flight of the emulation unmanned plane will receive the simulated flight influences.
39. unmanned plane emulation mode as claimed in claim 38, it is characterised in that: the environmental parameter includes following at least one
Kind: wind direction, wind-force size.
40. unmanned plane emulation mode as claimed in claim 33, it is characterised in that: on the battery of the emulation unmanned plane for the moment
The status information at quarter includes one or more of battery current, voltage, temperature, internal resistance, capacity；It is described to emulate the upper of unmanned plane
The status information at one moment includes one or more of angle, angular speed, speed, height, posture, course, longitude, latitude.
41. unmanned plane emulation mode as claimed in claim 33, it is characterised in that: the unmanned plane emulation mode further include:
When the current electric quantity is lower than default electricity, not enough power supply prompt information is issued.
42. a kind of unmanned plane simulator, which is characterized in that the unmanned plane simulator includes:
Display device, for showing the image of emulation unmanned plane；
Input unit, with the display device communication connection, the input unit is used for for user's input control order, with control
The emulation unmanned plane carries out analog simulation flight；
Wherein, in the emulation unmanned plane analog simulation flight course, nobody is emulated described in the display device real-time display
The current electric quantity of machine；
The control command is the state model parameter for emulating unmanned plane and/or the battery model parameter of the emulation unmanned plane；
The control command includes the status information of last moment emulation unmanned plane and/or the status information of last moment battery；
Wherein, battery model is used for the status information and the battery shape of last moment of the last moment according to the emulation unmanned plane
State information, simulation calculate the battery status information of subsequent time；
According to the status information of the last moment of unmanned plane and the battery status information of subsequent time, calculate under the unmanned plane
The status information at one moment.
43. unmanned plane simulator as claimed in claim 42, it is characterised in that: the emulation unmanned plane be it is true nobody
Machine.
44. unmanned plane simulator as claimed in claim 42, it is characterised in that: the input unit is remote controler or holds
The touch display screen of device.
45. unmanned plane simulator as claimed in claim 42, it is characterised in that: the battery model parameter include such as down toward
Few one kind: battery core voltage, battery design capacity, internal resistance, standby current, initial temperature, initial quantity of electricity, charge and discharge number.
46. unmanned plane simulator as claimed in claim 42, it is characterised in that: the state model parameter include such as down toward
Few one kind: the kinetic parameter of motor, the kinetic parameter of propeller.
47. unmanned plane simulator as claimed in claim 42, it is characterised in that: the control command includes that environmental parameter is set
It sets, the environmental parameter influences the analog simulation flight of the emulation unmanned plane.
48. unmanned plane simulator as claimed in claim 47, it is characterised in that: the environmental parameter include atmospheric gas pressure,
One or more of temperature, wind speed, wind direction, longitude, latitude.
49. unmanned plane simulator as claimed in claim 42, it is characterised in that: the control command include aerial mission or
Trajectory planning, the emulation unmanned plane carry out analog simulation flight according to the aerial mission or trajectory planning automatically.
50. unmanned plane simulator as claimed in claim 42, it is characterised in that: the battery status information includes battery electricity
One or more of stream, voltage, temperature, internal resistance, capacity.
51. unmanned plane simulator as claimed in claim 42, it is characterised in that: the status information packet of the emulation unmanned plane
Include one or more of angle, angular speed, speed, height, posture, course, longitude, latitude.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/086796 WO2017219296A1 (en) | 2016-06-22 | 2016-06-22 | Unmanned aerial vehicle simulation system, unmanned aerial vehicle simulation method, and unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107438799A CN107438799A (en) | 2017-12-05 |
| CN107438799B true CN107438799B (en) | 2019-03-08 |
Family
ID=60458680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680004727.4A Expired - Fee Related CN107438799B (en) | 2016-06-22 | 2016-06-22 | Unmanned plane analogue system, unmanned plane emulation mode and unmanned plane |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107438799B (en) |
| WO (1) | WO2017219296A1 (en) |
Families Citing this family (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108508915A (en) * | 2018-04-02 | 2018-09-07 | 沈阳航空航天大学 | A kind of multi-rotor aerocraft automatic control system and its control method |
| CN109240129A (en) * | 2018-11-28 | 2019-01-18 | 湖北安心智能科技有限公司 | A kind of unmanned plane analog simulation display & control system of oriented manipulation |
| CN109696915B (en) * | 2019-01-07 | 2022-02-08 | 上海托华机器人有限公司 | Test method and system |
| CN110456655B (en) * | 2019-06-29 | 2022-04-12 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Microwave landing simulation system |
| CN110456663B (en) * | 2019-08-19 | 2023-01-06 | 哈尔滨工业大学 | Aircraft navigation control technology simulation device and method based on multi-source information fusion |
| CN113022884A (en) * | 2019-12-25 | 2021-06-25 | 海鹰航空通用装备有限责任公司 | Unmanned aerial vehicle load test simulation method and system |
| CN111142538B (en) * | 2020-01-08 | 2023-03-24 | 北京工商大学 | Unmanned ship operation strategy real-time decision-making method for water environment monitoring |
| CN113449238B (en) * | 2020-03-24 | 2023-04-25 | 丰翼科技(深圳)有限公司 | Unmanned aerial vehicle safe operation method and device, electronic equipment and storage medium |
| CN111959819B (en) * | 2020-06-05 | 2022-08-16 | 江苏科技大学 | Multi-rotor unmanned aerial vehicle algorithm verification and parameter adjustment system and use method thereof |
| CN111680365B (en) * | 2020-06-16 | 2023-03-17 | 郑州大学 | Simulation method for change characteristics of fuel level of fuel tank of airplane by combining CATIA and Amesim |
| CN112506046B (en) * | 2020-10-09 | 2022-04-29 | 北京航空航天大学 | Stability augmentation control method for wingtip hinged combined type flight platform |
| CN112230568A (en) * | 2020-11-06 | 2021-01-15 | 北京航空航天大学 | Unmanned aerial vehicle simulation system, simulation method and unmanned aerial vehicle |
| CN112394649B (en) * | 2020-11-17 | 2022-08-30 | 中国人民解放军63892部队 | Time-sharing multiplexing-based group unmanned aerial vehicle internal communication behavior control platform |
| CN112572829B (en) * | 2020-12-03 | 2023-05-30 | 中国工程物理研究院总体工程研究所 | Unmanned aerial vehicle flight simulation method and system |
| CN112379290A (en) * | 2020-12-10 | 2021-02-19 | 中国南方电网有限责任公司超高压输电公司柳州局 | Method and device for detecting cruising ability of power battery of unmanned aerial vehicle |
| CN112230671B (en) * | 2020-12-13 | 2021-03-16 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle return monitoring method based on smart lamp post and control center |
| CN113360276B (en) * | 2021-04-15 | 2022-09-27 | 北京航空航天大学 | Unmanned aerial vehicle system task planning method and device based on health state |
| CN113110107B (en) * | 2021-04-29 | 2022-10-21 | 北京三快在线科技有限公司 | Unmanned aerial vehicle flight control simulation system, device and storage medium |
| CN113009935B (en) * | 2021-05-24 | 2021-09-10 | 北京三快在线科技有限公司 | Unmanned aerial vehicle simulation test system and method and unmanned aerial vehicle flight controller |
| CN113467271A (en) * | 2021-05-25 | 2021-10-01 | 中国航空工业集团公司沈阳飞机设计研究所 | Thermal simulation method for airplane electric environmental control system |
| CN113433836B (en) * | 2021-06-01 | 2023-11-28 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle semi-physical integration verification platform |
| US11393355B1 (en) | 2021-07-13 | 2022-07-19 | Beta Air, Llc | System for flight simulation of an electric aircraft |
| CN113487915B (en) * | 2021-09-06 | 2021-11-16 | 江苏启航航空科技有限公司 | Unmanned aerial vehicle-based flight service supervision system and method |
| CN113917854B (en) * | 2021-10-18 | 2024-04-12 | 北京航空航天大学 | Flight control system semi-physical simulation platform for large and medium unmanned aerial vehicle |
| CN114063474B (en) * | 2021-12-03 | 2023-06-06 | 北京航空航天大学 | Simulation method of semi-physical simulation system based on unmanned aerial vehicle cluster |
| CN115291536B (en) * | 2022-07-06 | 2024-04-19 | 西北工业大学 | Visual unmanned aerial vehicle tracking ground target semi-physical simulation platform verification method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103869255A (en) * | 2014-03-18 | 2014-06-18 | 南京航空航天大学 | Micro-miniature electric unmanned aerial vehicle endurance time estimation method |
| MX2013013663A (en) * | 2013-11-12 | 2015-05-11 | Tarida Innovations S A De C V | Mechanical device for emulating the flight of unmanned aerial vehicles. |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8890480B2 (en) * | 2006-11-30 | 2014-11-18 | The Boeing Company | Health management of rechargeable batteries |
| CN102354123B (en) * | 2011-07-18 | 2013-05-08 | 北京航空航天大学 | Cross-platform extendible satellite dynamic simulation test system |
| CN102566441A (en) * | 2011-12-29 | 2012-07-11 | 成都飞机工业（集团）有限责任公司 | Visual simulation test system for unmanned aerial vehicle (UAV) |
| US9417270B2 (en) * | 2013-01-08 | 2016-08-16 | GM Global Technology Operations LLC | Systems and methods to capture and utilize temperature information in a battery system |
| US9646114B2 (en) * | 2013-07-10 | 2017-05-09 | The Boeing Company | Electrical power system stability |
| CN103336913B (en) * | 2013-07-25 | 2016-03-16 | 哈尔滨工业大学 | A kind of method being suitable for space lithium ion battery status monitoring and cut-off voltage prediction |
| CN103488179A (en) * | 2013-09-18 | 2014-01-01 | 航天科工深圳（集团）有限公司 | Flight simulation system and method of unmanned aerial vehicle |
| CN103632018B (en) * | 2013-12-24 | 2016-06-22 | 山东大学 | A kind of fuel cell modelling method based on Simscape platform |
| CN105676672B (en) * | 2016-01-06 | 2017-05-31 | 西北工业大学 | The compound countermeasures emulation modelling method of flapping wing aircraft |
| CN105608952B (en) * | 2016-03-24 | 2018-01-02 | 上海交通大学 | Flight Simulated Training System and its flight simulation method based on unmanned plane |
-
2016
- 2016-06-22 WO PCT/CN2016/086796 patent/WO2017219296A1/en active Application Filing
- 2016-06-22 CN CN201680004727.4A patent/CN107438799B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| MX2013013663A (en) * | 2013-11-12 | 2015-05-11 | Tarida Innovations S A De C V | Mechanical device for emulating the flight of unmanned aerial vehicles. |
| CN103869255A (en) * | 2014-03-18 | 2014-06-18 | 南京航空航天大学 | Micro-miniature electric unmanned aerial vehicle endurance time estimation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107438799A (en) | 2017-12-05 |
| WO2017219296A1 (en) | 2017-12-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107438799B (en) | Unmanned plane analogue system, unmanned plane emulation mode and unmanned plane | |
| Quan | Introduction to multicopter design and control | |
| US20200277080A1 (en) | Systems and methods for in-flight operational assessment | |
| US11721995B2 (en) | Battery management system | |
| Pounds | Design, construction and control of a large quadrotor micro air vehicle | |
| CN105259917A (en) | Quick and safe landing device and method for unmanned aerial vehicle | |
| CN205469865U (en) | Unmanned aerial vehicle that takes automatic charging device's unmanned on duty take off and land platform and system | |
| CN108146608B (en) | Rotor and inflatable air bag combined type floating aircraft with vector thrust | |
| WO2020027992A1 (en) | Controlling a robotic vehicle following flight controller signal loss | |
| CN205121348U (en) | Unmanned vehicles safety system of descending fast and remote control equipment and unmanned vehicles thereof | |
| US11196478B1 (en) | Distributing wireless relays to form an ad hoc wireless network | |
| CN108196565A (en) | A kind of novel unmanned plane and its attitude control method being combined based on projection with more rotors | |
| Becker et al. | Designing a high speed, stealthy, and payload-focused VTOL UAV | |
| Efaz et al. | Modeling of a high-speed and cost-effective FPV quadcopter for surveillance | |
| CN204078068U (en) | A kind of four-axle aircraft of overlength flying power | |
| CN102184655A (en) | Portable processing platform of false or true scene signals | |
| CN109131841A (en) | Method of supplying power to, device, flight control system and the aircraft of aircraft | |
| Grobler | Automated recharging and vision-based improved localisation for a quadrotor UAV | |
| Halaas et al. | Control and management of an indoor, health enabled, heterogenous fleet | |
| Olejnik et al. | Specific problems of selecting and integrating equipment components in the course of developing a technology demonstrator for the mini-UAV | |
| Dantsker et al. | Flight testing of tailless subscale HAPS aircraft | |
| Jeyan et al. | Methodical study of micro air vehicle/UAV device and its mechanism | |
| US20230299601A1 (en) | Nonlinear power source capability determination | |
| Puetz et al. | Unlinking of multiple autonomous, unmanned, aerial vehicles mid-flight | |
| Sakamoto et al. | Evaluation of Power Control System for Micro and Nano Satellites by Hardware-in-the-Loop Simulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190308 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |