无人机起飞质量设计方法研究

本文给出了一种可用于无人机总体方案设计阶段的起飞质量设计方法,通过本文建立的无人机质量平衡方程的迭代计算,可以设计无人机起飞质量、空机质量和分类质量,为无人机总体方案设计提出质量控制指标,同时为无人机总体方案的重心定位提供必要的质量数据。     

轻小型无人机系统适航规章发展及其启示

通过介绍无人机的分类以及欧洲国家航空局、无人机系统规章制定联合局、北大西洋联合组织(NATO)、美国、中国的轻小型无人机航空器系统适航规章发展情况,分析我国轻小型无人机系统适航现状,并为我国轻小型无人机系统适航的发展提出相关建议。     

无人机系统互操作性标准研究

从标准跨度和范围、管理方法、分类和限制、使用方、技术途径和状态等方面重点分析了国外现行主要无人机系统互操作性标准现状,包括北约组织标准化协议和联合无人系统体系结构系列标准;并通过与国内无人机系统互操作性相关标准对比分析,提出我国无人机系统互操作性标准研究编制工作的建议.     

审定类民用无人机飞机级功能危险性分析

基于无人机"人机分离"的特有设计特点和运行限制条件,以国内某大型民用无人机为例,对我国审定类民用无人机的安全性评估方法进行了研究。通过定义无人机系统的飞机级功能,并对无人机功能失效状态概率基准的分析,建立了适合于无人机的安全性指标;开展了无人机的飞机级功能危险性评估过程,分析失效状态对无人机、机组人员、地面人员和空中其他飞行器的危害影响并划分了失效状态的危险严重等级。     

大中型无人机维修保障体系建设的思考

正随着大中型无人机在军民领域的广泛应用,与产业发展适配的大中型无人机维修保障体系亟需建立。本文从无人机产业发展趋势及大中型无人机维修保障体系的需求入手,分析了当前存在的主要问题,基于系统工程理论,提出了大中型无人机维修保障体系模型建构;探讨了适配某大型无人机军民应用需求,基于适航和军民融合理念,按"分类"与"分级"结合的模式,设计建构其机型维修保障人员资质体系的思路与框架。     

战术无人机总体与性能参数相关性分析

按照飞行器设计的基本原理并结合无人机特点,对侦察、监视类战术无人机总体参数与性能参数进行了相关性分析,找出了两者可能存在的数学关系,得到10个经验公式和一些重要参数的取值范围,可为战术无人机的概念设计提供有用的数据和参考。     

无人机车辆组合物流配送路径规划探讨

近年来无人机在各个领域的应用逐渐兴起,尤其是在物流运输领域发展迅速。在物流运输领域的应用主要是与车辆进行组合运输,国内外的学者针对无人机和车辆组合运输的路径规划问题进行了许多研究。主要论述了目前车辆和无人机组合运行的4种模式,包括车辆支持无人机运行模式、无人机支持车辆运行模式、无人机与车辆独立的运行模式、无人机和车辆同步的运行模式。探究了目前无人机和车辆组合路径规划问题考虑的因素,包括无人机电池电量、运送包裹数量和时间窗等。对有无人机参与的车辆路径规划问题的目标优化进行了总结,目前的研究主要分为3类,包括考虑最短配送时间、最小总成本和多目标规划。这些研究对未来无人机配送问题的研究具有重要的指导意义。     

一种适用于情报图像处理的图像集分类算法

无人机情报处理系统是无人机地面控制系统的重要组成部分之一，主要负责对无人机侦察载荷下传的侦察情报进行处理，从复杂的情报中获得直观的情报产品并传递给上级和友邻单位。对于搭载光电载荷的无人机情报处理当前仍以依靠人力鉴别为主。介绍一种基于快速近似最近邻( FLANN) 搜索特征的K 近邻用分类决策，可去除背景信息对分类性能的影响；为了进一步提高算法的运行速度及减少算法的内存开销，采用特征选择的方式分别减少测试图像和训练图像集的特征数目，并尝试同时减少测试图像和训练图像集中的特征数目平衡分类正确率与分类时间之间的矛盾。该算法保留了原始NBNN 算法的优点，无需参数学习的过程，实验结果验证了算法的正确性和有效性。     

无人机自动控制仿真系统研究与实现

航迹控制回路是无人机自动控制飞行中的重要环节,它涉及无人机的姿态、航向和飞行状态等重要参数的变化。根据飞行控制的基本控制律实现了无人机在复杂航迹条件下的安全飞行控制,模拟出无人机在自动控制下的航迹、盘旋和着陆等的飞行任务。采用面向对象方法设计了基于堆栈的通用化的航线管理类。并分析了无人机在手动操作切换到自动控制方式时寻找航迹点飞行中可能出现的问题,提出了相应的解决方案。     

民用轻小型无人机碰撞安全特性研究进展

民用轻小型无人机碰撞伤人、干扰甚至碰撞民航飞机的事件频发，使得其碰撞安全问题成为各国学者研究的热点技术之一。本文分析了轻小型无人机运营中的碰撞安全风险诱因，从无人机碰撞民航飞机和碰撞人员2类场景出发，阐述了轻小型无人机碰撞安全分析方法和试验方法的研究概况，以及典型的无人机碰撞安全准则及损伤分级方法。最后，对轻小型无人机碰撞安全技术研究的发展进行了展望。     

Haze removal for UAV reconnaissance images using layered scattering model

During the unmanned aerial vehicles(UAV) reconnaissance missions in the middle-low troposphere, the reconnaissance images are blurred and degraded due to the scattering process of aerosol under fog, haze and other weather conditions, which reduce the image contrast and color fidelity. Considering the characteristics of UAV itself, this paper proposes a new algorithm for dehazing UAV reconnaissance images based on layered scattering model. The algorithm starts with the atmosphere scattering model, using the imaging distance, squint angle and other metadata acquired by the UAV. Based on the original model, a layered scattering model for dehazing is proposed. Considering the relationship between wave-length and extinction coefficient, the airlight intensity and extinction coefficient are calculated in the model. Finally, the restored images are obtained. In addition, a classification method based on Bayesian classification is used for classification of haze concentration of the image, avoiding the trouble of manual working. Then we evaluate the haze removal results according to both the subjective and objective criteria. The experimental results show that compared with the origin image, the comprehensive index of the image restored by our method increases by 282.84%, which proves that our method can obtain excellent dehazing effect.     

新型实用"微型电动无人侦察机"的研制与技术发展

介绍洪都集团公司研制的新型实用"微型电动GPS导航全自主飞行视频传输、可链路控制的微型无人侦察机"(简称微型电动无人侦察机WDWC-1")的研制概况及发展思路.     

State of art on energy management strategy for hybrid-powered unmanned aerial vehicle

New energy sources such as solar energy and hydrogen energy have been applied to the Unmanned Aerial Vehicle(UAV), which could be formed as the hybrid power sources due to the requirement of miniaturization, lightweight, and environmental protection issue for UAV. Hybrid electrical propulsion technology has been used in UAV and it further enforces this trend for the evolution to the Hybrid-Powered System(HPS). In order to realize long endurance flight mission and improve the energy efficiency of UAV, many researching works are focused on the Energy Management Strategy(EMS) of the HPS with digital simulation, ground demonstration platforms and a few flight tests for the UAV in recent years. energy management strategy, in which off-line or on-line control algorithms acted as the core part, could optimize dynamic electrical power distribution further and directly affect the efficiency and fuel economy of hybrid-powered system onboard.In order to give the guideline for this emerging technology for UAV, this paper presents a review of the topic highlighting energy optimal management strategies of UAV. The characteristics of typical new energy sources applied in UAV are summarized firstly, and then the classification and analysis of the architecture for hybrid power systems in UAV are presented. In the context of new energy sources and configuration of energy system, a comprehensive comparison and analysis for the state of art of EMS are presented, and the various levels of complexity and accuracy of EMS are considered in terms of real time, computational burden and optimization performance based on the optimal control and operational modes of UAV. Finally, the tendency and challenges of energy management strategy applied to the UAV have been forecasted.     

一种新型无人飞行器的发展现状与关键技术

巡飞弹作为一种新型的无人飞行器,其技术发展得到了国内外的广泛关注。本文介绍了新型无人飞行器——巡飞弹的工作原理及分类,提出了巡飞弹设计中的主要技术问题,包括总体一体化设计技术、机载设备抗高过载技术、减旋增稳技术、变体过程动态响应分析技术、战斗部技术等,并给出了解决这些关键技术问题的基本方法和途径。     

Unmanned aerial vehicle strike on a flat plate: Tests and numerical simulations

The incursion of Unmanned Aerial Vehicles (UAVs) into airports often occurs due to the popularity of drones, which may lead to a threat to aircraft flight safety. Therefore, estimating the dynamic impact load caused by drone strikes is essential. This paper proposes a test method with high precision and low cost involving launching of a UAV to impact a flat plate specimen by using an air gun. The test results of UAVs impacting flat plates at different impact velocities, such as the UAV damage deformation captured by a high-speed camera and strain vs time dynamic response curves of plates, were obtained and analysed. At the same time, a corresponding numerical simulation was carried out by using the explicit finite element software LS-DYNA. The predicted damage to the UAV and strain on the flat plate during the strike process were compared with the test results. The overall trend of the simulation results is in good agreement with the test results, at least for the first three milliseconds of the event. This shows that the numerical simulation model established in this paper is reasonable. The UAV numerical method established in the present paper can be used to carry out numerical simulations and evaluations of the collision safety of UAVs against large aircraft and high-value ground targets. The results show that the local deformation of the impacted target is uneven due to the distribution of concentrated mass components such as motors, battery, and camera. As the impact velocity of the UAV increases, all parts of the UAV are seriously damaged and basically in a fragmented state, and the battery is greatly deformed. The interaction between the UAV and the flat plate specimen is approximately 2.7 ms, and the UAV numerical simulation model established in this paper can well simulate the real UAV impact process.     

Robust trajectory planning for UAV communication systems in the presence of jammers

Unmanned Aerial Vehicle (UAV) has emerged as a promising novel application for the Sixth-Generation (6G) wireless communication by leveraging more favorable Line-of-Sight (LoS) propagation. However, the jamming resistance by exploiting UAV’s mobility is a new challenge in the UAV-ground communication. This paper investigates the trajectory planning problem in an UAV communication system, where the UAV is operated by a Ground Control Unit (GCU) to perform certain tasks in the presence of multiple jammers with imperfect power and location information. To ensure the reliability of the GCU-to-UAV link, we formulate the problem as a non-convex semi-infinite optimization, aiming to maximize the average worst-case Signal-to-Interference-plus-Noise Ratio (SINR) over a given flight duration by designing the robust trajectory of the UAV under stringent energy availability constraints. To handle this problem efficiently, we develop an iterative algorithm for the solution with the aid of S-procedure and Successive Convex Approximation (SCA) method. Numerous results demonstrate the efficacy of our proposed algorithm and offer some useful design insights to practical system.     

无人机系统的安全性与危险源分析

无人机系统的战术性能及优势将使其在未来高技术战争和民用航空中发挥越来越重要的作用。然 而,由于有人机与无人机飞行事故的特点不同,使得有人机的安全性分析与管理措施不完全适用于无人机系 统。首先,对无人机系统的飞行事故进行统计分析,得出无人机系统事故的特点;然后,合理借鉴有人机的安全 性分析,定义无人机系统的安全性,提出无人机系统事故的严酷度等级划分及相应的危险可接受度;最后,从设 计、机组训练及使用操作三方面进行危险源分析。本文提出的无人机系统不安全事件发生可能性等级划分和 危险源定性分析,可为后续无人机安全管理框架的构建奠定基础。     

无人机类脑吸引子神经网络导航技术

当前无人机在非结构化或未知环境下飞行主要采用SLAM进行导航与定位，存在如下突出问题：依赖高精度昂贵激光雷达等环境感知传感器；需要建立准确世界和无人机物理模型；受环境影响较大；自主智能水平较低，无法较好地满足无人机对导航系统的要求，需要发展自主智能的导航方式。基于吸引子神经网络的类脑导航技术，无需训练模型参数，不依赖高精度传感器，无需精确建模，且复杂环境下鲁棒性较强，具有解决上述问题的潜力。简要阐述了动物大脑导航机理，分析了吸引子神经网络和基于吸引子神经网络的类脑导航关键技术，最后讨论了吸引子类脑导航技术在无人机应用中的挑战。     

Optimization of beamforming and path planning for UAV-assisted wireless relay networks

Recently, unmanned aerial vehicles （UAVs） acting as relay platforms have attracted considerable attention due to the advantages of extending coverage and improving connectivity for long-range communications. Specifically, in the scenario where the access point （AP） is mobile, a UAV needs to find an efficient path to guarantee the connectivity of the relay link. Motivated by this fact, this paper proposes an optimal design for beamforming （BF） and UAV path planning. First of all, we study a dual-hop amplify-and-forward （AF） wireless relay network, in which a UAV is used as relay between a mobile AP and a fixed base station （BS）. In the network, both of the AP and the BS are equipped with multiple antennas, whereas the UAV has a single antenna. Then, we obtain the output signal~to-noise ratio （SNR） of the dual-hop relay network. Based on the criterion of maximizing the output SNR, we develop an optimal design to obtain the solution of the optimal BF weight vector and the UAV heading angle. Next, we derive the closed-form outage probability （OP） expression to investigate the performance of the dual-hop relay network conveniently. Finally, computer simulations show that the proposed approach can obtain nearly optimal flying path and OP performance, indicating the effectiveness of the proposed algorithm. Furthermore, we find that increasing the antenna number at the BS or the maximal heading angle can significantly improve the performance of the considered relay network.