TILT-ROTOR AIRCRAFT, METHOD AND COMPUTER PROGRAM FOR VERTICAL LANDING

摘要

A tilt-rotor aircraft according to an embodiment of the present invention includes: a body having a pitch attitude angle with respect to a reference plane perpendicular to a direction of gravity; a rotor connected to the body through blades and having a tilt angle with respect to the reference plane; a distance measuring sensor disposed on the body and measuring a distance to the ground; a rotating part disposed between the body and the distance measuring sensor and adjusting the measuring angle of the distance measuring sensor while rotating at a predetermined angle; a data processing unit configured to determine a landing site in a landing mode; and a flight controller for controlling the pitch attitude angle and the tilt angle based on the inclination angle of the landing site so that the body lands vertically on the slope of the landing site, wherein the data processing unit includes the rotation unit and the distance measuring sensor While changing the measurement angle of the distance measuring sensor by using, the distance to a plurality of points on the ground is measured to generate distance data for each angle, and based on the distance data for each angle and the pitch attitude angle, the plurality of generate coordinate data of points of , calculate inclination angles between the plurality of points based on the coordinate data, and determine the landing site based on a first inclination angle that is a minimum of the inclination angles do.