An unmanned aerial vehicle (UAV) including a vehicle body and an airflow thruster is provided. The vehicle body has a center hub, an airflow guiding structure and an outer circumferential portion. An interior of the airflow guiding structure is interconnected between the center hub and the outer circumferential portion. The center hub has an airflow inlet. The outer circumferential portion has a plurality of lateral guiding outlets facing downward and corresponding to a gravity direction of the gravity direction of the unmanned aerial vehicle. The airflow thruster is disposed inside the center hub for generating a plurality of jet streams, such that the jet streams flow to the lateral guiding outlets through the airflow guiding structure to generate a propulsion.

A concentric, double hull, damage tolerant airframe vehicle double clad with a lightweight, impact resistant ceramic matrix composite for heat shielding and flame resistance, and fitted with insulation, to provide thermal protection from 35 C. to 1,650 C. of the internal fuselage areas for an extended period of time within an extreme heat environment, that will serve as a semi or fully autonomous vehicle, manned or unmanned, preferably an unmanned aerial vehicle designed as the delivery means to suppress or extinguish flames by repeatedly discharging pressure waves against flames without having to exit the fire environment.

Embodiments of the present application relate to the technical field of unmanned aerial vehicles, and particularly relate to a speed control method, device, multi-rotor unmanned aerial vehicles and a storage medium. The speed control method is applied to a multi-rotor unmanned aerial vehicle, the method including: acquiring a speed adjustment command and obtaining an acceleration adjustment command according to the speed adjustment command; obtaining a specific force acceleration adjustment command according to the acceleration adjustment command; and adjusting a current thrust of the multi-rotor unmanned aerial vehicle to a target thrust according to the specific force acceleration adjustment command, so as to realize the adjustment of a flight speed of the multi-rotor unmanned aerial vehicle. The above-mentioned method can ensure the speed control over multi-rotor unmanned aerial vehicle at any attitude such as continuous rolling and has a wider application range.

Embodiments of the present application relate to the technical field of unmanned aerial vehicles, and particularly relate to a speed control method, device, multi-rotor unmanned aerial vehicles and a storage medium. The speed control method is applied to a multi-rotor unmanned aerial vehicle, the method including: acquiring a speed adjustment command and obtaining an acceleration adjustment command according to the speed adjustment command; obtaining a specific force acceleration adjustment command according to the acceleration adjustment command; and adjusting a current thrust of the multi-rotor unmanned aerial vehicle to a target thrust according to the specific force acceleration adjustment command, so as to realize the adjustment of a flight speed of the multi-rotor unmanned aerial vehicle. The above-mentioned method can ensure the speed control over multi-rotor unmanned aerial vehicle at any attitude such as continuous rolling and has a wider application range.

An aircraft includes an airframe including a fuselage, a wing, and a tail, a main propulsion unit, including a motor and a propeller, a flight control device, including electric actuators, movable surfaces and sensors, and an autopilot computer sending instructions to the main propulsion unit and to the flight control device. Such unmanned aircraft further includes a pair of auxiliary propulsion units, each auxiliary propulsion unit including an electric motor, a propeller driven by the electric motor, and means for orienting the plane of the propeller with respect to the airframe, the flight control computer being programmed for setting a steering angle and a propeller speed of each auxiliary propulsion unit so as to compensate for a malfunction of the flight control system and/or of the main propulsion unit, in order to control the trajectory along all axes, the unmanned aircraft thereby exhibiting increased reliability.

An aircraft includes an airframe including a fuselage, a wing, and a tail, a main propulsion unit, including a motor and a propeller, a flight control device, including electric actuators, movable surfaces and sensors, and an autopilot computer sending instructions to the main propulsion unit and to the flight control device. Such unmanned aircraft further includes a pair of auxiliary propulsion units, each auxiliary propulsion unit including an electric motor, a propeller driven by the electric motor, and means for orienting the plane of the propeller with respect to the airframe, the flight control computer being programmed for setting a steering angle and a propeller speed of each auxiliary propulsion unit so as to compensate for a malfunction of the flight control system and/or of the main propulsion unit, in order to control the trajectory along all axes, the unmanned aircraft thereby exhibiting increased reliability.

A dual solution candidate searcher receives an input of information about a constraint coefficient matrix and a cost vector, determines a dual problem of a linear programming problem being a primal problem and all active sets representing combinations of active formulas in constraints of the dual problem, finds, for each of the active sets, a feasible dual solution candidate meeting constraints, and stores the dual solution candidate into a storage in a manner associated with a corresponding one of the active sets. An optimal solution calculation device receives an input of a constraint vector as, selects an optimal one of the active sets as an optimal active set based on an inner product of the constraint vector and the dual solution candidate stored in the storage, and finds and outputs a basic feasible solution corresponding to the selected active set as an optimal solution.

An aerial vehicle includes an airframe; vertical propulsion units, and a controller. The vertical propulsion units are mounted to the airframe and include propellers oriented to provide vertical propulsion to the aerial vehicle. The vertical propulsion units are physically organized in quadrants on the airframe with each of the quadrants including two or more of the vertical propulsion units. The controller is coupled to the vertical propulsion units to control operation of the vertical propulsion units. At least two of the vertical propulsion units in each of the quadrants are adapted to counter-rotate from each other during flight of the aerial vehicle.

A technique for controlling vertical propulsion units of an aerial vehicle includes determining whether an initial thrust command output vector results in a thrust command clipping of one of the vertical propulsion units. The vertical propulsion units are physically organized into propulsion rings including an inner ring and an outer ring. Torque associated with the initial thrust command output vector is transferred from each the vertical propulsion units in the outer ring to the vertical propulsion units in the inner ring when the thrust command clipping of one of the vertical propulsion units in the outer ring occurs. A revised thrust command output vector is determined after transferring the torque. The vertical propulsion units are driven according to the revised thrust command output vector.

In one embodiment, the disclosure provides a method of event auditing. The method of event auditing includes receiving sensor data at a base station from a sensor of an unmanned aerial vehicle (UAV), transmitting a controls signal to the UAV based on the sensor data, communicatively coupling the base station with an external evidenced repository, formatting a portion of the sensor data, and transmitting the formatted sensor data to the external evidence repository. In some embodiments, the base station is mounted to an anchor vehicle. In some embodiments, the UAV is communicatively coupled with the base station via a tether. In some embodiments, the formatting the sensor data includes formatting a second portion of sensor data to generate formatted sensor data based, at least in part, on an identity of the external evidence repository.