CN114248924B - Unmanned aerial vehicle emergency throwing device and method - Google Patents
Unmanned aerial vehicle emergency throwing device and method Download PDFInfo
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- CN114248924B CN114248924B CN202010998473.0A CN202010998473A CN114248924B CN 114248924 B CN114248924 B CN 114248924B CN 202010998473 A CN202010998473 A CN 202010998473A CN 114248924 B CN114248924 B CN 114248924B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 56
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000000926 separation method Methods 0.000 claims description 25
- 238000002716 delivery method Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/04—Dropping, ejecting, or releasing articles the articles being explosive, e.g. bombs
- B64D1/06—Bomb releasing; Bombs doors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D7/00—Arrangements of military equipment, e.g. armaments, armament accessories, or military shielding, in aircraft; Adaptations of armament mountings for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Traffic Control Systems (AREA)
- Remote Monitoring And Control Of Power-Distribution Networks (AREA)
Abstract
The invention provides an unmanned aerial vehicle emergency throwing device and method, comprising three physical channels, wherein a first physical channel comprises a task computer, a secondary power distribution device and a hanging frame, a second physical channel comprises a flight control computer, a main power distribution device and the hanging frame, and a third physical channel comprises the flight control computer, the task computer, the secondary power distribution device and the hanging frame; the task computer, the secondary power distribution device and the hanging frame are connected in pairs, the flight control computer, the main power distribution device and the hanging frame are connected in pairs, and a communication interface is arranged between the flight control computer and the task computer. According to the invention, through the emergency release of three physical channels, the redundant design of the emergency release of the unmanned aerial vehicle weapons is realized, and the safety of the unmanned aerial vehicle in the emergency release is ensured.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle weapon control, and particularly relates to an unmanned aerial vehicle emergency throwing device and method.
Background
Unmanned aerial vehicles with striking functions are required to mount weapons, and weapon firing control is an important function and means for striking targets and ensuring safety of the vehicle. The emergency release is a necessary function for ensuring the safety of the carrier, so that the implementation of the function has higher reliability. On the basis of the man-machine, the emergency release of weapons is realized by operating a hard switch by a pilot, and is irrelevant to onboard software, so as to ensure the release reliability. However, on the unmanned aerial vehicle, a scheme for using the hard switch cannot be realized. For this reason, a new design method is needed for emergency release of unmanned aerial vehicle airborne weapons, and the reliability of emergency release is improved.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an unmanned aerial vehicle emergency throwing device and method. The scheme of the invention can solve the problems in the prior art.
The technical solution of the invention is as follows:
According to a first aspect, an unmanned aerial vehicle emergency delivery device is provided, which comprises three physical channels, wherein the first physical channel comprises a task computer, a secondary power distribution device and a hanger, the second physical channel comprises a flight control computer, a main power distribution device and the hanger, and the third physical channel comprises the flight control computer, the task computer, the secondary power distribution device and the hanger; the task computer is connected with the secondary power distribution device and the hanging frame in pairs, the task computer receives an emergency throwing instruction, calculates a hanging point to be thrown in emergency according to instruction parameters, provides an instruction for separating the unhooking device and the unhooking device of the hanging frame and transmits the instruction to the secondary power distribution device, the secondary power distribution device provides power distribution control for the unhooking device and the unhooking device of the hanging frame, and receives power distribution control of the main power distribution device and the secondary power distribution device to perform unhooking and unhooking control on a mounted weapon; the flying control computer is connected with the main power distribution device and the hanging rack in pairs, receives an emergency throwing instruction, calculates a hanging point to be thrown in emergency according to instruction parameters, provides an instruction for separating the hook opening device and the inserting releasing device of the hanging rack, and transmits the instruction to the main power distribution device, and the main power distribution device provides power distribution control for the hook opening device and the inserting releasing device of the hanging rack; and a communication interface is arranged between the flight control computer and the task computer.
Further, the first physical channel, the second physical channel and the third physical channel are in a redundant backup relationship.
Preferably, the first physical channel is preferred when instructed by the ground control station, and the second physical channel is selected when the first physical channel fails; in the absence of a command from the ground control station, a third physical channel is preferred, and in the event of failure of the third physical channel, a second physical channel is selected.
According to a second aspect, the unmanned aerial vehicle emergency delivery method comprises the following steps:
the ground station and the flight control computer perform state judgment on the unmanned aerial vehicle to judge whether an emergency release instruction is started, and if the emergency release instruction is sent, the next step is performed;
if the emergency release instruction sent by the ground station is received, the first physical channel executes the emergency release instruction, if the emergency release instruction is executed normally, the unmanned aerial vehicle emergency release is completed, and if the emergency release instruction is executed in error, the second physical channel executes the emergency release instruction, and the unmanned aerial vehicle emergency release is completed;
If the emergency release instruction sent by the flight control computer is received, the third physical channel executes the emergency release instruction, if the instruction is normal, the unmanned aerial vehicle emergency release is completed, and if the execution is wrong, the second physical channel executes the emergency release instruction, and the unmanned aerial vehicle emergency release is completed.
Further, the step of executing the emergency release instruction by the first physical channel includes:
S2.1, after receiving the emergency release instruction, the task computer sends a signal to the weapon, judges whether the weapon is powered off, if not, executes the weapon power-off operation, and if the weapon is powered off, the task computer carries out S2.2;
S2.2, controlling a secondary power distribution device to carry out separation control of the hanger, if the separation is wrong, feeding back the state to a ground station and a flight control computer, executing a second physical channel emergency release instruction, and if the separation is normal, carrying out S2.3;
S2.3, the task computer controls the secondary power distribution device to perform unhooking control on the hanging frame, if unhooking errors occur, the state is fed back to the ground station and the flight control computer, a second physical channel emergency throwing instruction is executed, and if unhooking is correct, the emergency throwing flow is ended.
Further, the step of executing the emergency release instruction by the second physical channel includes:
s3.1, after receiving an emergency release instruction, the flight control computer controls the main power distribution device to perform separation control of the hanger, and feeds back the state to the ground station;
S3.2, the flight control computer controls the main power distribution device to perform unhooking control on the hanging frame, and feeds back the state to the ground station, and the emergency delivery flow is ended.
Further, the step of executing the emergency release instruction by the third physical channel includes:
S4.1, the flight control computer autonomously decides to generate an emergency release instruction and sends the emergency release instruction to the task computer;
S4.2, after receiving the emergency release instruction, the task computer sends a signal to the weapon, judges whether the weapon is powered off, if not, executes the weapon power off operation, and if the weapon is powered off, carries out S4.3;
S4.3, controlling the secondary power distribution device to carry out separation control of the hanger, if the separation is wrong, feeding back the state to the ground station and the flight control computer, executing a second physical channel emergency release instruction, and if the separation is normal, carrying out S4.4;
s4.4, the task computer controls the secondary power distribution device to perform unhooking control on the hanging frame, if unhooking errors occur, the state is fed back to the ground station and the flight control computer, a second physical channel emergency throwing instruction is executed, and if unhooking is correct, the emergency throwing flow is ended.
Compared with the prior art, the invention has the beneficial effects that:
According to the invention, through the emergency release of three physical channels, the redundant design of the emergency release of the unmanned aerial vehicle weapons is realized, and the safety of the unmanned aerial vehicle in the emergency release is ensured.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 shows a schematic diagram of an unmanned aerial vehicle emergency delivery device according to an embodiment of the present invention;
Fig. 2 shows a schematic diagram of a first physical channel emergency release step provided according to an embodiment of the present invention;
FIG. 3 shows a schematic diagram of a second physical channel emergency drop step provided according to an embodiment of the present invention;
fig. 4 shows a schematic diagram of a third physical channel emergency release step according to an embodiment of the present invention;
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
As shown in fig. 1, according to an embodiment of the present invention, there is provided an unmanned aerial vehicle emergency delivery device,
The system comprises three physical channels, wherein a first physical channel comprises a task computer, a secondary power distribution device and a hanging frame, a second physical channel comprises a flight control computer, a main power distribution device and a hanging frame, and a third physical channel comprises a flight control computer, a task computer, a secondary power distribution device and a hanging frame; the task computer is used for providing an instruction for separating the unhooking device and the unhooking device of the hanging rack and transmitting the instruction to the secondary power distribution device, the secondary power distribution device is used for providing power distribution control for the unhooking device and the unhooking device of the hanging rack, and the hanging rack is used for receiving power distribution control of the main power distribution device and the secondary power distribution device and carrying out unhooking and unhooking control on the mounted weapon; the flight control computer receives the emergency throwing instruction, calculates a hanging point to be thrown in emergency according to instruction parameters, provides an instruction for separating the unhooking device and the unhooking device of the hanging frame, and transmits the instruction to the main power distribution device, and the main power distribution device provides power distribution control for the unhooking device and the unhooking device of the hanging frame; the flight control computer and the task computer are provided with a communication interface.
In the invention, the task computer is a computer for controlling the task load and the weapon and collecting the load and the weapon state, the secondary power distribution device is a power distribution device controlled by the task computer for supplying and distributing the task load and the weapon, and the main power distribution device is a power distribution device controlled by the flight control computer for supplying and distributing the related equipment on the aircraft and realizing emergency throwing of the weapon.
Further in one embodiment, the first physical channel, the second physical channel, and the third physical channel are in a redundant backup relationship.
Preferably, in one embodiment, the first physical channel is preferred in the presence of instructions from the ground control station, and the second physical channel is selected in the event of failure of the first physical channel; in the absence of a command from the ground control station, a third physical channel is preferred, and in the event of failure of the third physical channel, a second physical channel is selected.
According to a second embodiment, the unmanned aerial vehicle emergency delivery method is provided, and comprises the following steps:
the ground station and the flight control computer perform state judgment on the unmanned aerial vehicle to judge whether an emergency release instruction is started, and if the emergency release instruction is sent, the next step is performed;
if the emergency release instruction sent by the ground station is received, the first physical channel executes the emergency release instruction, if the emergency release instruction is executed normally, the unmanned aerial vehicle emergency release is completed, and if the emergency release instruction is executed in error, the second physical channel executes the emergency release instruction, and the unmanned aerial vehicle emergency release is completed;
If the emergency release instruction sent by the flight control computer is received, the third physical channel executes the emergency release instruction, if the instruction is normal, the unmanned aerial vehicle emergency release is completed, and if the execution is wrong, the second physical channel executes the emergency release instruction, and the unmanned aerial vehicle emergency release is completed.
In a further embodiment, as shown in fig. 2, the step of executing the emergency release instruction by the first physical channel is:
S2.1, after receiving the emergency release instruction, the task computer sends a signal to the weapon, judges whether the weapon is powered off, if not, executes the weapon power-off operation, and if the weapon is powered off, the task computer carries out S2.2;
S2.2, controlling a secondary power distribution device to carry out separation control of the hanger, if the separation is wrong, feeding back the state to a ground station and a flight control computer, executing a second physical channel emergency release instruction, and if the separation is normal, carrying out S2.3;
S2.3, the task computer controls the secondary power distribution device to perform unhooking control on the hanging frame, if unhooking errors occur, the state is fed back to the ground station and the flight control computer, a second physical channel emergency throwing instruction is executed, and if unhooking is correct, the emergency throwing flow is ended.
In a further embodiment, as shown in fig. 3, the step of executing the emergency release instruction by the second physical channel is:
s3.1, after receiving an emergency release instruction, the flight control computer controls the main power distribution device to perform separation control of the hanger, and feeds back the state to the ground station;
S3.2, the flight control computer controls the main power distribution device to perform unhooking control on the hanging frame, and feeds back the state to the ground station, and the emergency delivery flow is ended.
In a further embodiment, as shown in fig. 4, the step of executing the emergency release instruction by the third physical channel is:
S4.1, the flight control computer autonomously decides to generate an emergency release instruction and sends the emergency release instruction to the task computer;
S4.2, after receiving the emergency release instruction, the task computer sends a signal to the weapon, judges whether the weapon is powered off, if not, executes the weapon power off operation, and if the weapon is powered off, carries out S4.3;
S4.3, controlling the secondary power distribution device to carry out separation control of the hanger, if the separation is wrong, feeding back the state to the ground station and the flight control computer, executing a second physical channel emergency release instruction, and if the separation is normal, carrying out S4.4;
s4.4, the task computer controls the secondary power distribution device to perform unhooking control on the hanging frame, if unhooking errors occur, the state is fed back to the ground station and the flight control computer, a second physical channel emergency throwing instruction is executed, and if unhooking is correct, the emergency throwing flow is ended.
For a further understanding of the invention, reference will now be made in detail to the drawings and examples.
After the task machine receives the emergency release instruction of the ground station, judging the hanging point to be released, judging the weapon state of the hanging point, and ensuring that the weapon is in a power-off state during emergency release. If the weapon fails to power down normally, emergency delivery is still performed, but the state of the weapon is communicated to the ground station for determination of the impact effect of the weapon.
The emergency release flow of the first physical channel taking the task computer as a core is as follows:
The task computer controls the secondary power distribution device to send out weapon inserting and separating instructions, the task computer collects inserting and separating interlocking signals, and whether weapon inserting and separating are normal or not is judged within 300 ms. If the weapon is abnormal in separation and disconnection, the task machine does not continue to execute the hanging hook opening instruction, and feeds back the current state to the flight control computer and the ground station to perform a second physical channel with the flight control computer as a core. After the weapon is normally separated and separated, the task computer controls the secondary power distribution device to send a hanging hook opening instruction, and the task computer collects hanging bullet indicating signals and judges whether the hanging hook opening is normal within 500 ms. If the hook of the hanging frame is abnormal, feeding back the current state to the flight control computer and the ground station, and carrying out a second physical channel with the flight control computer as a core. The hanging frame is normally unhooked, the weapon emergency release process is finished, and the state is fed back to the flight control computer and the ground station.
The emergency release flow of the second physical channel with the flight control computer as the core is as follows:
When the flight control computer receives the emergency release instruction of the ground station, the flight control computer does not judge any state of the weapon any more, and an unconditional emergency release flow is executed. The flight control computer sends a corresponding on-hook off-plug separation instruction to the main power distribution device, wherein the instruction duration is 300ms. The flight control computer sends a hanging hook opening instruction to the main power distribution device, and the hanging hook opening instruction lasts 500ms. The flight control computer does not judge the state of separation of the plug and the hanger and the state of opening the hook. The task computer periodically collects the state of the separation of the plug and the state of the hanging bullet indicating signal and feeds the state back to the flight control computer and the ground station.
When the flight control computer judges that the carrier is threatened by flight safety, the flight control computer sends an emergency release instruction to the task computer when the auxiliary decision algorithm needs to release the mounted weapon, and the ground station does not send the weapon emergency release instruction at the moment, so as to execute a third physical channel emergency release flow. The task computer executes the emergency release instruction and receives the emergency release instruction execution process of the ground station. In summary, compared with the prior art, the invention has at least the following advantages: according to the invention, through the emergency release of three physical channels, the redundant design of the emergency release of the unmanned aerial vehicle weapons is realized, and the safety of the unmanned aerial vehicle in the emergency release is ensured.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The unmanned aerial vehicle emergency throwing device is characterized by comprising three physical channels, wherein a first physical channel comprises a task computer, a secondary power distribution device and a hanging frame, a second physical channel comprises a flight control computer, a main power distribution device and the hanging frame, and a third physical channel comprises the flight control computer, the task computer, the secondary power distribution device and the hanging frame; the task computer is connected with the secondary power distribution device and the hanging frame in pairs, the task computer receives an emergency throwing instruction, calculates a hanging point to be thrown in emergency according to instruction parameters, provides an instruction for separating the unhooking device and the unhooking device of the hanging frame and transmits the instruction to the secondary power distribution device, the secondary power distribution device provides power distribution control for the unhooking device and the unhooking device of the hanging frame, and receives power distribution control of the main power distribution device and the secondary power distribution device to perform unhooking and unhooking control on a mounted weapon; the flying control computer is connected with the main power distribution device and the hanging rack in pairs, receives an emergency throwing instruction, calculates a hanging point to be thrown in emergency according to instruction parameters, provides an instruction for separating the hook opening device and the inserting releasing device of the hanging rack, and transmits the instruction to the main power distribution device, and the main power distribution device provides power distribution control for the hook opening device and the inserting releasing device of the hanging rack; a communication interface is arranged between the flight control computer and the task computer;
When the ground control station instruction exists, the first physical channel is the first choice, and the second physical channel is selected under the condition that the first physical channel fails; in the absence of a command from the ground control station, a third physical channel is preferred, and in the event of failure of the third physical channel, a second physical channel is selected.
2. The unmanned aerial vehicle emergency delivery device of claim 1, wherein the first physical channel, the second physical channel, and the third physical channel are in a redundant backup relationship.
3. An unmanned aerial vehicle emergency delivery method of an unmanned aerial vehicle emergency delivery device according to claim 1 or 2, wherein the method comprises the steps of:
the ground station and the flight control computer perform state judgment on the unmanned aerial vehicle to judge whether an emergency release instruction is started, and if the emergency release instruction is sent, the next step is performed;
if the emergency release instruction sent by the ground station is received, the first physical channel executes the emergency release instruction, if the emergency release instruction is executed normally, the unmanned aerial vehicle emergency release is completed, and if the emergency release instruction is executed in error, the second physical channel executes the emergency release instruction, and the unmanned aerial vehicle emergency release is completed;
If the emergency release instruction sent by the flight control computer is received, the third physical channel executes the emergency release instruction, if the instruction is normal, the unmanned aerial vehicle emergency release is completed, and if the execution is wrong, the second physical channel executes the emergency release instruction, and the unmanned aerial vehicle emergency release is completed.
4. The unmanned aerial vehicle emergency release method of claim 3, wherein the step of executing the emergency release instruction by the first physical channel comprises:
S2.1, after receiving the emergency release instruction, the task computer sends a signal to the weapon, judges whether the weapon is powered off, if not, executes the weapon power-off operation, and if the weapon is powered off, the task computer carries out S2.2;
S2.2, controlling a secondary power distribution device to carry out separation control of the hanger, if the separation is wrong, feeding back the state to a ground station and a flight control computer, executing a second physical channel emergency release instruction, and if the separation is normal, carrying out S2.3;
S2.3, the task computer controls the secondary power distribution device to perform unhooking control on the hanging frame, if unhooking errors occur, the state is fed back to the ground station and the flight control computer, a second physical channel emergency throwing instruction is executed, and if unhooking is correct, the emergency throwing flow is ended.
5. The unmanned aerial vehicle emergency delivery method of claim 4, wherein the step of executing the emergency delivery command by the second physical channel comprises:
s3.1, after receiving an emergency release instruction, the flight control computer controls the main power distribution device to perform separation control of the hanger, and feeds back the state to the ground station;
S3.2, the flight control computer controls the main power distribution device to perform unhooking control on the hanging frame, and feeds back the state to the ground station, and the emergency delivery flow is ended.
6. The unmanned aerial vehicle emergency release method of claim 5, wherein the step of executing the emergency release instruction by the third physical channel comprises:
S4.1, the flight control computer autonomously decides to generate an emergency release instruction and sends the emergency release instruction to the task computer;
S4.2, after receiving the emergency release instruction, the task computer sends a signal to the weapon, judges whether the weapon is powered off, if not, executes the weapon power off operation, and if the weapon is powered off, carries out S4.3;
S4.3, controlling the secondary power distribution device to carry out separation control of the hanger, if the separation is wrong, feeding back the state to the ground station and the flight control computer, executing a second physical channel emergency release instruction, and if the separation is normal, carrying out S4.4;
s4.4, the task computer controls the secondary power distribution device to perform unhooking control on the hanging frame, if unhooking errors occur, the state is fed back to the ground station and the flight control computer, a second physical channel emergency throwing instruction is executed, and if unhooking is correct, the emergency throwing flow is ended.
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| US9452844B1 (en) * | 2015-03-05 | 2016-09-27 | Comac America Corporation | Emergency mechanical and communication systems and methods for aircraft |
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| CN107870631B (en) * | 2016-09-27 | 2021-01-05 | 北京理工大学 | Unmanned helicopter airborne system and control method thereof |
| CN106774367B (en) * | 2016-12-27 | 2020-05-15 | 歌尔股份有限公司 | Redundancy control method of aircraft |
| KR101818232B1 (en) * | 2017-05-26 | 2018-01-12 | 이윤성 | Apparatus for controlling emergency, drone having the same and method for controlling drone having the same |
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| CN109398709A (en) * | 2018-12-03 | 2019-03-01 | 中航技进出口有限责任公司 | External fire control system and application method |
| CN111017216A (en) * | 2019-12-28 | 2020-04-17 | 中航电测仪器(西安)有限公司 | Unmanned helicopter cargo external hanging and throwing monitoring device and method |
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