Multicopter-assisted system and method for launching and retrieving a fixed-wing aircraft
The present disclosure provides various embodiments of a multicopter-assisted launch and retrieval system generally including: (1) a multi-rotor modular multicopter attachable to (and detachable from) a fixed-wing aircraft to facilitate launch of the fixed-wing aircraft into wing-borne flight; (2) a storage and launch system usable to store the modular multicopter and to facilitate launch of the fixed-wing aircraft into wing-borne flight; and (3) an anchor system usable (along with the multicopter and a flexible capture member) to retrieve the fixed-wing aircraft from wing-borne flight.
1. A method for launching a fixed-wing aircraft into wing-borne flight, the method comprising:
attaching and locking a fixed-wing aircraft to an underside of a Multicopter to prevent the fixed-wing aircraft from detaching from the Multicopter;
flying the Multicopter and attached fixed-wing aircraft to a designated altitude;
unlocking the fixed-wing aircraft from the Multicopter to enable the fixed-wing aircraft to detach from the Multicopter; and
detaching the fixed-wing aircraft from the Multicopter.
2. The method of claim 1 , wherein locking the fixed-wing aircraft to the Multicopter includes engaging a locking device, wherein unlocking the fixed-wing aircraft from the Multicopter includes disengaging the locking device.
3. The method of claim 1 , wherein the Multicopter includes multiple upper rotor motors respectively drivingly engaged to multiple upper rotors and multiple lower rotor motors respectively drivingly engaged to multiple lower rotors, and which includes, after detaching the fixed-wing aircraft from the Multicopter, shutting down the upper rotor motors or the lower rotor motors.
4. The method of claim 1 , wherein the Multicopter includes multiple rotor motors respectively drivingly engaged to multiple rotors, and which includes enabling shut down of all of the rotor motors when: (1) indicated altitude is below a designated threshold; and (2) throttle is below a designated threshold.
5. The method of claim 1 , which includes, before flying the Multicopter and attached fixed-wing aircraft to the designated altitude, using a GPS repeater to acquire a desired satellite constellation and familiarizing a GPS receiver of the fixed-wing aircraft with the desired satellite constellation.
6. The method of claim 1 , which includes flying the Multicopter and attached fixed-wing aircraft to the designated altitude before the fixed-wing aircraft can access GPS and accessing GPS after the Multicopter begins flying.
7. The method of claim 1 , which includes mounting the fixed-wing aircraft to a launch-assist assembly before attaching the fixed-wing aircraft to the Multicopter.
8. The method of claim 7 , wherein mounting the fixed-wing aircraft to the launch-assist assembly includes resting wings of the fixed-wing aircraft on wing engaging surfaces and inserting a fuselage of the fixed-wing aircraft into a fuselage-retaining device.
9. The method of claim 8 , which includes disengaging a safety mechanism of the fuselage-retaining device before inserting the fuselage into the fuselage-retaining device to enable insertion of the fuselage into the fuselage-retaining device.
10. The method of claim 9 , which includes re-engaging the safety mechanism of the fuselage-retaining device after inserting the fuselage into the fuselage-retaining device to prevent removal of the fuselage from the fuselage-retaining device.
11. The method of claim 10 , which includes attaching the fixed-wing aircraft to the Multicopter after re-engaging the safety mechanism of the fuselage-retaining device.
12. The method of claim 11 , which includes starting rotor motors of the Multicopter after attaching the fixed-wing aircraft to the Multicopter.
13. The method of claim 12 , which includes disengaging the safety mechanism of the fuselage-retaining device after starting the rotor motors of the Multicopter, and thereafter flying the Multicopter and the attached fixed-wing aircraft to the designated altitude.
14. The method of claim 1 , wherein the Multicopter includes a cam rotatable from an attached rotational position to a detached rotational position, the fixed-wing aircraft includes a hook, and attaching the fixed-wing aircraft to the Multicopter includes attaching the hook to the cam when the cam is in the attached rotational position.
15. The method of claim 14 , wherein detaching the fixed-wing aircraft from the Multicopter includes rotating the cam from the attached rotational position to the detached rotational position.
16. The method of claim 15 , wherein the cam includes a detachment surface that contacts a tip of the hook as the cam rotates from the attached rotational position to the detached rotational position to force the hook off of the cam, thereby detaching the fixed-wing aircraft from the cam.
17. The method of claim 15 , wherein rotating the cam from the attached rotational position to the detached rotational position includes operating a cam motor operatively coupled to the cam via a cam motor arm to cause the rotation.
18. The method of claim 17 , wherein engaging the locking device includes operating a lock motor to rotate a lock motor arm to a lock rotational position in which the lock motor arm engages the cam motor arm to prevent the cam motor arm from causing the cam to rotate from the attached rotational position to the detached rotational position.
19. The method of claim 18 , wherein disengaging the locking device includes operating the lock motor to rotate the lock motor arm from the lock rotational position to an unlock rotational position in which the lock motor arm does not prevent the cam motor arm from causing the cam to rotate from the attached rotational position to the detached rotational position.
20. The method of claim 1 , which includes setting a yaw position feedback gain to zero to enable the Multicopter to self-orient in yaw during flight.
21. The method of claim 1 , which includes moving an actuator of the Multicopter from a first position to a second position to detach the fixed-wing aircraft from the Multicopter.
22. The method of claim 21 , which includes moving the actuator of the Multicopter from the second position to the first position to attach the fixed-wing aircraft from the Multicopter.
23. The method of claim 22 , wherein the actuator is a cam.
24. The method of claim 21 , wherein attaching the fixed-wing aircraft to the Multicopter includes attaching the fixed-wing aircraft to the rotor craft in at least one attachment location on the fixed-wing aircraft when the actuator is in the first position.
25. The method of claim 21 , wherein attaching the fixed-wing aircraft to the Multicopter includes causing a first part of the Multicopter to engage the fixed-wing aircraft in at least one forward engagement location and causing a second part of the Multicopter to engage the fixed-wing aircraft in at least one rear engagement location.
26. The method of claim 21 , wherein attaching the fixed-wing aircraft to the Multicopter includes causing a first part of the Multicopter to engage the fixed-wing aircraft in a first plurality of spaced apart forward engagement locations and causing a second part of the Multicopter to engage the fixed-wing aircraft in a second plurality of spaced apart rear engagement locations.
27. The method of claim 21 , wherein attaching the fixed-wing aircraft to the Multicopter includes causing a first plurality of spaced apart parts of the Multicopter to engage the fixed-wing aircraft in a first plurality of spaced apart forward engagement locations and causing a second plurality of spaced apart parts of the Multicopter to engage the fixed-wing aircraft in a second plurality of spaced apart rear engagement locations.
28. The method of claim 1 , wherein attaching the fixed-wing aircraft to the Multicopter includes causing a first part of the Multicopter to engage the fixed-wing aircraft in at least one forward engagement location and causing a second part of the Multicopter to engage the fixed-wing aircraft in at least one rear engagement location.
29. The method of claim 1 , wherein attaching the fixed-wing aircraft to the Multicopter includes causing a first part of the Multicopter to engage the fixed-wing aircraft in a first plurality of spaced apart forward engagement locations and causing a second part of the Multicopter to engage the fixed-wing aircraft in a second plurality of spaced apart rear engagement locations.
30. The method of claim 1 , wherein attaching the fixed-wing aircraft to the Multicopter includes causing a first plurality of spaced apart parts of the Multicopter to engage the fixed-wing aircraft in a first plurality of spaced apart forward engagement locations and causing a second plurality of spaced apart parts of the Multicopter to engage the fixed-wing aircraft in a second plurality of spaced apart rear engagement locations.
31. The method of claim 1 , wherein attaching the fixed-wing aircraft to the Multicopter includes causing a first part of the Multicopter to engage the fixed-wing aircraft on a first side of a longitudinal axis of the fixed-wing aircraft and causing a second part of the Multicopter to engage the fixed-wing aircraft on a second side of the longitudinal axis of the fixed-wing aircraft.
32. The method of claim 1 , wherein attaching the fixed-wing aircraft to the Multicopter includes causing a first plurality of parts of the Multicopter to engage the fixed-wing aircraft on a first side of a longitudinal axis of the fixed-wing aircraft and causing a second plurality of part of the Multicopter to engage the fixed-wing aircraft on a second side of the longitudinal axis of the fixed-wing aircraft.