Method of landing unmanned aerodynamic flying vehicle

FIELD: landing unmanned aerodynamic flying vehicles.

SUBSTANCE: prior to flight, electronic guidance equipment is mounted on board and ground landing equipment is placed on landing field. Horizontal flight and landing approach are carried out in aircraft mode with the aid of satellite radio navigational system. At final landing section, self-guidance of flying vehicle on landing field is performed by means of on-board electronic guidance equipment and ground landing equipment with the aid of one algorithms of correlation extremal navigation; soft landing is carried out by killing the kinetic energy of flying vehicle motion. Specific feature of proposed method as compared with known methods consists in decreasing flight speed after beginning of self-guidance of flying vehicle on landing field by means of power plant and aerodynamic control members and increasing angle of attack to critical magnitudes ensuring auto-rotation of flying vehicle at precession relative to direction of speed vector of its translational motion. Then, speed of its vertical motion relative to Earth is reduced by means of aerodynamic control members of flying vehicle to magnitudes ensuring complete killing of kinetic energy and soft landing on landing field.

EFFECT: possibility of landing super-light unmanned flying vehicle without complex expensive equipment.

5 cl, 3 dwg

The invention relates to methods for landing unmanned aerial vehicles (UAV) aerodynamic type, in particular, to methods of planting ultra-lightweight (weighing not more than one kilogram) UAV, equipped with airborne electronic surveillance devices, navigation and automatic flight control.

There is a method of landing UAV using a parachute system (for example, a newsletter, "the Foreign press about the economic, scientific-technical and military capabilities..."series "means the intelligence services of the capitalist countries", Moscow, 1998, No. 6, p.21), in which BLAH a pre-set parachute system, when planting open the parachute and use it to extinguish the speed of the landing UAV to valid values.

The disadvantage of this method is the increase of the total mass of the UAV due to the mass of the parachute system, leading to a significant reduction of payload. Because of these weight limitations use for landing parachute system for ultra-light UAV difficult.

Another known method of landing UAV (both low and high mass) based on the damping of the relative velocity due to coordinated with the flight of the UAV movement of the landing site. To this class technical solutions include, for example, the method of planting BLAH on Japanese patent application JP No. 2001354199, 64 F 1/00, 63 In 35/50, 64 13/18. This method is based on the movement of the landing site, the role of which performs the freeboard of the vessel (e.g., ship, barge), with a speed close to the horizontal velocity component of BLAH in the final section of the landing. This measures the horizontal component of velocity BLAH and regulate the speed of the vessel so that the relative speed of convergence of BLAH and the surface of the deck of the vessel tends to zero.

Obviously, this method may have very limited use, and its use creates a significant inconvenience to the object used as a landing field.

To address this shortcoming as a landing using a movable platform on which set of vertical frame with a landing net made with the possibility of rotation around the vertical axis and horizontal travel along fixed on the platform guides. On Board the UAV and on the platform establish special electronic boarding means (optical or radar). These tools allow you to remotely monitor the relative location and speed of convergence BLAH with the network and manage the movement of the frame to the network, and BLAH the final part of the approach so BLAH when Pasadena would have received mechanical damage.

Thus, the known method of planting BLAH by trapping it in a vertical network, described in the review "Remotely piloted aircraft capitalist countries", edited by E.A. Fedosov, Moscow, Scientific-information center, 1989, p.51-61, in the bow BLAH establish pulsed radiation source operating in the near infrared (IR) region of the spectrum. On landing, set the platform with rails, which is in the process of landing UAV remains stationary. On the platform establish vertical frame made with the possibility of rotation around the vertical axis, and drive for this rotation. The frame set two IR receiver, vertical landing net made with the possibility of its horizontal movement along the guide rails, mounted on the platform, the transmitter and the brake device, which cables connect to the network. With the help of drive frame pre-turn in the direction of the wind. The final part of the approach UAV landing by remote control from the earth bring him within range of the IR receivers to measure the elevation angle and the lateral displacement of the UAV relative to the center of the network, calculate the variance BLAH from the programmed trajectory approach and transmit the data on Board the UAV to ensure contact with SETI. At the entrance of BLAH, in the network move the latter along the guide frame, absorb the kinetic energy of the motion of a UAV through pulling cables brakes and release from the network got into it blah BLAH.

This class technical solutions is an improved way of landing UAVS in the network patent RU NO. 2208555, 64 F 1/18, 64 13/20, G 08 C 5/02.

It differs from the above described analog of the fact that to increase the probability of no damage BLAH when his landing in the network, the platform being installed with the capability of translational movement in the direction of the horizontal axis, perpendicular to the plane of the network, additionally install the drive movement of the platform on the frame additionally install the sensor linear acceleration, the axis of sensitivity which is set in the direction of the translational movement of the platform, the rangefinder and the sensor start pulling cables brake device in the computer in advance, enter the maximum range of the IR receivers in simple meteorological conditions, determine the current value of the speed of convergence UAV platform, remember the GFC values range and speed BLAH at the moment of his entrance into the zone of action of the IR receivers, using the obtained values calculate the required acceleration value postupatelno the moving platform in the direction of the horizontal component of speed of convergence UAV platform, include drive translational movement of the platform with which progressively moves the platform in this direction, using sensor linear acceleration measured current values of acceleration and speed of this move, calculate the difference between current and desired speed value, run this drive in an effort to reduce the specified difference to zero, and the time of exposure UAVS in the network turn off the drive signal from the sensor start pulling the rope braking device.

As follows from the above descriptions, for the implementation of the known method of planting in the network requires a rather complicated and bulky ground-based equipment. This limits the scope of possible applications of these methods, especially in cases when the UAV should have low cost, small weight and dimensions. In these cases, the use of complex landing devices not justified neither tactical nor economic considerations.

Conventional aircraft horizontal landing for ultralight UAV is not acceptable, because it requires a runway. More interesting for BLAH way vertical landing used by helicopters and special aircraft with vertical takeoff and landing. However, these aircraft are complex in operation and management, roads and usually use who are only in manned aviation. In addition, the helicopter is essentially loses the aircraft with a fixed wing in cruise flight mode.

It should be noted that in the history of aviation there have been numerous attempts to create a hybrid aircraft of unconventional schemes, which would combine the advantages of a plane and a helicopter (for example, the book Bowers P. "Aircraft of unconventional schemes", Moscow, Mir, 1991).

Most of these attempts were aimed at enhancing the level of safety in the first place, to fight such dangerous aerodynamic phenomenon of stall into a spin.

As is known (for example, www.remaster.ru), the corkscrew is called unmanaged movement of aircraft on the spiral path of small radius at supercritical angles of attack. The corkscrew can enter any aircraft according to the request of the pilot, and spontaneously, when the error of the pilot in piloting. The transition into the spin occurs while decreasing airspeed and increasing angle of attack. In the fall of flight speed is reduced lifting force, but owing to the increase of angle of attack, lift coefficient initially increases, but only up to a critical value, and then decreases sharply, as is the disruption of the jet of air from the surface of the wing. The lifting force becomes less weight the aircraft is and he begins to fall down, "stalling" on the wing and curled around its longitudinal axis. This is the corkscrew, the output of which requires sufficient height and extraordinary skills of the pilot. Otherwise, the plane suffers an accident. The possibility of an accident due to failure in the corkscrew is a General shortage of all types of aircraft with a fixed wing.

To eliminate this drawback and create "bestporno" aircraft in 1922 Spanish designer Hdestroy was first proposed to use instead of the standard fixed wing aircraft rotating main rotor helicopter-type (Bowers P. "Aircraft of unconventional schemes", Moscow, "Mir", 1991, p.95, 96).

The screw was not rigidly connected to the engine, and its rotation was initiated by the airstream. The aircraft received the name of the autogyro.

The main feature of the autogyro is that it can sit almost vertically, while the main rotor operates as parachuting, i.e. without participation of the engine creates a lifting force that slows the vertical movement of the aircraft.

This phenomenon has received the name "AutoRotate". Example autorotation in nature is falling maple seed. His movement is similar to rotation with a high angular velocity about the center of mass of the single blade are the screw propeller, that creates a big enough lift force to the smooth decrease at a safe speed.

In the thirties of the last century was built many different autogyros (above book Players "Aircraft of unconventional schemes", Moscow, "Mir", 1991, chapters 5, 11). But then this type of aircraft was ousted in civil and military aviation helicopters and has survived only as a means of entertainment lovers Aeronautics. However, for aviation history of the autogyro was of great importance, because actually pointed inventors directions of further development of helicopters.

Currently, interest in autogyros and their varieties - orthoplan and convertiplanes is increased again. Many technical solutions in this area are protected by Russian and foreign patents (RU # 2005657, 64 27/02, RU # 2128128, 64 23/02, 64 39/00, RU # 2089456, 64 27/22, US No. 6089501, 64 27/22, 64 27/08, 64 27/52).

So, presented in the patent RU №2229421, 64 27/22 the autogyro-convertiplane (orthoplan) consists of a fuselage, wings mounted rotors, brakes brakes, a synchronizing shaft, flaps, vanes, ailerons, vertical thrust screw, tail, jet moderators and chassis.

The rotors are located at the ends of the wings in the bearings and soy is inany between a synchronizing shaft, ensuring their counter synchronous rotation. Each rotor has two lobes symmetrical profile, one of which is fixed in the flight position is inside the wing, and the slots for them are closed dampers driven by flaps or individual drives. Screw vertical thrust applied on one of the first helicopters Berliner (Bowers P. "Aircraft of unconventional schemes", Moscow, "Mir", 1991, s). It is designed to control pitch at subcritical speeds, has a reversible electric motor, which is activated when the extreme positions of the steering wheel. Jet retarders are located along the sides of the fuselage in accordance with its power circuit. The ailerons are placed on both sides of the nacelle pylons.

Orthoplan realizes takeoff, level flight and landing in airplane mode. While driving on the glide path he smoothly moves to the gyroplane mode by removing the fixing rotor, quite slow unwinding counter flow of air under the control of the braking system, to prevent dynamic blow from a sharp increase in the lifting force of the wing due to the increase of its area due to the emergence of swept surfaces of the blades. After the speed is critical when working tail becomes ineffective, includes the I screw vertical thrust, keeping the corners of the pitch in the desired range. When this stabilization roll the stable equilibrium, and pitch - screw vertical thrust. When approaching the earth autopilot includes the moderators in a manner that ensures soft touch and full production of fuel from them, regardless of the loading apparatus. Touch speed will be significantly below the aircraft.

The above orthoplan belongs to the class of manned aircraft and therefore can only be considered as an analogue of the proposed technical solutions related to the management class and landing BLAH.

The set of essential characteristics most similar to the present invention the previously described method of landing UAVS in the network patent RU NO. 2208555, 64 F 1/18, 64 13/20, G 08 G 5/02. This method is chosen as the prototype of the present invention. Its shortcomings have been noted above.

The present invention aims to remedy these disadvantages of the prototype method.

The basis of the invention lies in the idea of using at landing ultralight UAV aerodynamic type the phenomenon of autorotation.

The subject of the invention is the method of landing UAV aerodynamic type, in which before the flight BLAH on Board establish electronic equipment guidance, and the landing place called the mnoe boarding equipment in airplane mode, perform horizontal flight and landing, in the final section of the landing using the onboard electronic equipment guidance and landing ground equipment bring UAV landing and by damping the kinetic energy of motion of the UAV using the brake mechanism carry out a soft landing UAV landing, while after the beginning of the guidance BLAH to landing using the propulsion and aerodynamic controls BLAH translate it in the autorotation mode with precession relative to the vertically directed vector velocity of the forward movement, and then using aerodynamic controls BLAH reduce the speed of vertical movement relative to the earth to values that allows complete quenching of the kinetic energy of BLAH when his soft landing.

Private significant features of the invention are as follows.

As the onboard electronic equipment guidance systems videomagazine containing the on - Board sensor module, which includes a video camera with an optical system and video images.

As a land-landing equipment using one or more optical reflectors, for example, the mirror is l, which have, respectively, at the desired point of landing either in the form of a predetermined geometric shape on the perimeter or inside the landing field.

For translation BLAH in the autorotation mode synchronously rotate the plane of its wings in opposite directions about their longitudinal axes at angles not greater than 90 degrees, and after transfer to the BLAH in the autorotation mode set the plane of the wings perpendicular to the longitudinal axis BLAH.

As the brake mechanism using a mechanical spring, which before the beginning of the flight BLAH set in the bow of the UAV along its longitudinal axis, produce a mechanical spring when landing UAV command system videomagazine directly before touching the surface of the landing site and thus extinguish the kinetic energy of the UAV, providing a soft landing in an upright position.

The present invention is the creation of technology landing ultralight UAV, which would not require complex and expensive ground planting equipment, and would provide the possibility of multiple UAVS.

Provide technical result is to use the effect autorotation to reduce to safe limits vertical rate of descent BLAH (parachute effect) and odnovremenno to use the resulting precession for scanning the surface of the earth sensor onboard electronic equipment guidance. By reducing BLAH in the autorotation mode to the plane of the wings are set perpendicular to the velocity vector of the incident flow to maximize drag. Under the influence of the air flow they rotate like bearing rotor helicopter, creating a lifting force and the motion of the UAV is reminiscent of falling maple seed.

The essence of the invention is illustrated in figure 1-3.

Figure 1 presents a simplified sketch (bottom view) ultralight type UAV flying wing in level flight and during landing in autorotation mode).

Figure 2 shows the relative location in the horizontal plane BLAH and landing with the location of the optical reflectors.

Figure 3 shows the trajectory of the landing UAV onboard system videomagazine, in the autorotation mode with precession.

Figure 1-3 the following notation is used: 1 - BLAH; 2 - module; 3 - landing pad; 4 - ground optical sources; 5 - power plant; 6 - left wing; 7 - right wing.

In the role of the UAV 1 may be any ultralight (with flight mass not more than one kilogram) aircraft with aerodynamic scheme. For example, consider a small UAV 1 of the "flying wing" on the electric traction (figure 1). Figure 1 shows the main elements of the design the AI prototype UAV 1, developed by the company-applicant.

The left 6 and right 7 wings UAV 1 is made of a light synthetic material (for example, extruded polypropylene). Using the appropriate drive each of the wings (6 and 7) are connected to the Central part of the UAV 1, conventionally called the fuselage. - Turn left 6 and right 7 wings are made with the possibility of rotation of the planes of the left 6 and right 7 of the wings relative to their longitudinal axes at angles not greater than 90 degrees. The fuselage is made of fiberglass or carbon fiber. On the underside of the fuselage are the power plant 5 and module 2, which is part of the system videomagazine (system videomagazine and actuators of the left 6 and right 7 wings in figure 1 is not shown). The power plant 5 is a turbine driven by an electric motor located within the cylindrical body. Horizontal draught is created inside the cylindrical casing of the turbine rotating impeller (impeller).

Basic tactical-technical characteristics of the prototype UAV 1, developed by the company-applicant, presented in the following table:

As ground-based optical sources 4 placed on the perimeter of or inside the landing platform 3, can be applied simplest optical reflectors, such as mirrors, creating a significant contrast in relation to the underlying surface.

Under the landing pad 3 refers to the part of the surface with dimensions substantially greater than the wingspan UAV 1, within which is expected landing UAV 1. It is obvious that the surface of the landing site 3 should not be paved with asphalt, concrete or other hard material, contact with which can cause damage to the structural elements UAV 1. However, the use of special extenuating coatings, for example, sand bedding, also not planned. While hovering UAV 1 may be implemented, in principle, any one given point within a landing site 3 or geometric figure made of mirrors located Lieb is within the landing platform 3, or along its perimeter.

On the final leg of the vertical motion of the UAV 1 is activated brake mechanism, for example, from the bow of the UAV 1 is released, the spring, which extinguished the kinetic energy of motion of the UAV 1 and is provided with its soft vertical landing on the surface of the landing platform 3. In principle, may be used and other types of brake mechanisms, acceptable for this class of aircraft. However, the specific type of such a brake mechanism is not significant to this invention the signs. One example of the operation of the brake mechanism is shown as an additional characteristic of the invention (paragraph 5 claims)

Applied to UAV 1 system videomagazine is an onboard sensor - module 2, contain the digital camera with an optical system and a digital video processor, the output of which is connected to the input of a flight management system UAV 1 (not shown).

As module 2 can be used, for example, ultra-compact video system ADCM-2650-0001 company Agilent Technologies, Inc. (USA).

It contains a high quality lens, a miniature video camera on the complementary metal field integrated circuits (CMOS), providing ultra-low consumption (120 mW at a clock frequency of 13 MHz) the high resolution in VGA format (not worse 480× 640 pixels)and high-performance digital processor configured to process images in VGA format and image compression in JPEG format.

The video processor may be programmed to recognize terrestrial objects specific configuration and color. Such objects, in particular, can be ground-based optical sources 4. Method and device for recognition of such ground-based optical sources 4 and videomagazine on them BLAH 1 does not belong to the subject of this invention and are therefore not further considered. In particular, they are described in detail in the patent RU NO. 2248307, 64 p 29/00, G 08 C 21/00.

Wide enough field of view is ensured, due to the precession of the fuselage of the UAV 1 in autorotation (as in rotating July). Because the module 2 is rigidly connected to the fuselage, the precession provides mechanical scanning of the surface of the earth video camera that allows you to keep ground-based optical sources 4 in the field of view of module 2. The system videomagazine UAV 1 may use the well-known correlation-extremal algorithms targeting (for example, K. Baklitsky and others. "Methods of filtering signals in a correlation-extreme guidance systems", Moscow, Radio I Svyaz", 1986, section 4.3). Development of control effects by changing the elevation the slope of the left 6 and right 7 of the wings in relation to the direction of air flow. The rotation of the wings 6 or 7 is performed by electrically connecting the power unit 5 and the transverse pins which fastened the wings 6 and 7. When this transverse pins mounted along the longitudinal axis of each wing (the left 6 and right 7).

Thus, the method of planting BLAH 1 practically implement, device, implement it, much simpler devices that are required for the implementation of the prototype method.

An example implementation of the proposed method of landing UAV 1 is considered for UAV 1 this model of the "flying wing" (figure 1) and is illustrated in figure 2 and 3.

To UAV 1 on Board establish electronic equipment guidance, for example, the system videomagazine with an onboard sensor - module 2 containing a miniature video camera with an optical system and high-performance video processor. Video 2 provides a visual recognition of the landing site 3, within which, or along its perimeter (figure 2)or in accordance with a given geometric configuration, set one or more ground-based optical source 4, for example, mirrors.

In addition, the module 2 is configured to supply commands to activate the brake mechanism. This brake mechanism may be, for example, a mechanical spring, installed in front of what Acala flight UAV 1 in his bow.

Takeoff UAV 1 does not apply to material claimed patent and therefore is not specifically covered. The starting point of consideration is conventionally considered finding UAV 1 in flight.

While flying UAV 1 is in airplane mode due to the operation of the power unit 5 and the lifting force of the wings 6 and 7, the plane of which is installed parallel to the earth's surface. At the final stage of the flight UAV 1 it brought to the landing zone 3 so that the landing 3 hit in the area of videomagazine (figure 2). The image of the landing site 3 included in the video image received by the module 2. To reach the landing zone 3 UAV 1 is controlled by using data from the navigation system, for example, satellite navigation system. The flight control of the UAV 1 in airplane mode are carried out with the help of the power unit 5 and the aerodynamic controls of the wings 6 and 7.

After logging UAV 1 in the specified area of the landing site 3 special team begins the process of homing BLAH 1 landing 3. Since the beginning of the process of homing BLAH 1 landing 3 the orientation of the UAV 1 in space is carried out with higher precision than in airplane mode according to the video, we get a view of what modules 2. And the flight control of the UAV 1 is carried out, as in airplane mode, with the help of the power unit 5 and the aerodynamic controls of the wings 6 and 7.

As noted above, in the process of homing BLAH 1 landing 3 can be used any of well-known algorithms for correlation-extremal guidance. However, the specific type of algorithm homing is not essential to the present invention and are not further specified.

When approaching blind to landing 3 command system videomagazine BLAH 1 automatically goes into landing mode. In this mode:

- reduced traction motor of the power unit 5 and, accordingly, the speed of rotation of impeller power plant 5;

- using a drive that is installed in the fuselage of the UAV 1, the left 6 and right 7 wings unfold their longitudinal axes in opposite directions, resulting in broken transverse equilibrium BLAH 1. Because of the imbalance is so-called "nekrenine" UAV 1 and UAV 1 begins to "fall on the wing" (for example, on the left wing 6).

For each of the wings 6 and 7 this is an increase of angle of attack. In accordance with known ratios, aerodynamics, increase the angle of attack leads to an increased ratio of su lifting force. On the however, there is a critical angle of attack, above which is "disruption of the stream, and the ratio of the su begins to decrease with increasing angle of attack.

In the descending left wing 6 angle of attack increases beyond the critical that accompanied the fall of the lift coefficient.

The rising right-wing 7 angle of attack remains in the subcritical region, resulting in a lifting force descending left wing 6, having a large angle of attack is less than the rising right-wing 7, through which BLAH 1 starts to operate unbalanced moment subramania aimed towards initial Nekretnine BLAH 1. This phenomenon of subramania is AutoRotate.

Under the effect of this unbalanced moment subramania BLAH 1 will rotate around its longitudinal axis with a positive angular acceleration. On each pass of the rising wing is working with angles of attack, much less critical, i.e. in terms of smooth flow, while the descending wing at full breakdown of the air flow, which reduces the angular acceleration of rotation.

After the beginning of subramania BLAH 1 turn corners planes of the wings 6 and 7 are automatically electrically driven lead up to ±90 degrees relative to the longitudinal axis of the UAV 1. This dramatically increases the area under the b contact of the wings 6 and 7 with the ascending air stream, and accordingly, the head resistance to the motion of the UAV 1. Rolling from the bottom of the air flow causes the UAV 1 faster to rotate around its longitudinal axis, creating a lifting force which is sufficient to substantially braking BLAH 1 during descent.

At a certain angular speed comes the moments of the normal forces acting on the left wing 6 and the right wing 7, respectively, angular acceleration disappears and is set constant angular speed autorotation BLAH 1. That is, UAV 1 goes to the landing ellipse.

Being on the landing trajectory, rotating UAV 1 precessive about its longitudinal axis like Julia. Because the module 2 is rigidly connected to the fuselage of the UAV 1, precession allows scanning module 2 the earth's surface. BLAH 1 approaching landing 3, gradually losing altitude.

As noted above, to ensure the safe touch with the surface of the landing platform 3 can be applied to various braking devices.

Thus, in the system prototype used brake cable. In the system-similar to patent RU NO. 2229421, 64 27/22 use special brake motors.

As one of the private essential features of the claimed invention it is proposed to use a mechanical spring. is the mechanical spring before flying UAV 1 is installed in the nose of the UAV 1 along its longitudinal axis. When landing UAV 1 command system videomagazine directly before touching the surface of the landing site 3 produce a mechanical spring. Thus, absorb the kinetic energy of the UAV 1. In the UAV 1 is able to gently land on the landing platform 3, while in a vertical position.

Thus, the proposed new planting technology ultra-light UAV 1 aerodynamic type, which does not require complex and expensive flight and landing equipment and provides the possibility of multiple UAVS 1, and the task of the present invention.

Aerodynamic controls UAV 1 - wings 6 and 7 are the main source of lifting force in airplane mode of flight. They also perform the role of a rotor with a vertical landing, carried out in an autorotation mode, providing an opportunity to reduce vertical speed to safe limits.

Provide technical result is to use well known in aerodynamics phenomena autorotation to reduce to safe limits vertical velocity UAV 1 during landing. What if this precession provides the ability to scan the earth's surface with module 2, which allows to obtain the necessary information for precision Samonas the Denia BLAH 1 landing 3.

1. The method of landing an unmanned aerial vehicle (UAV) aerodynamic type, in which before the flight BLAH on Board establish electronic equipment guidance, and the landing place landing ground equipment, in airplane mode, perform horizontal flight and landing, in the final section of the landing using the onboard electronic equipment guidance and landing ground equipment bring UAV landing and by damping the kinetic energy of motion of the UAV using the brake mechanism carry out a soft landing UAV landing, characterized in that after the beginning of the guidance BLAH to landing using the propulsion and aerodynamic authorities BLAH translate it in the autorotation mode with precession relative to the vertically directed vector velocity of the forward movement, and then using aerodynamic controls BLAH reduce the speed of vertical movement relative to the earth to values that allows complete quenching of the kinetic energy of BLAH when his soft landing.

2. The method according to claim 1, characterized in that as the onboard electronic equipment guidance use a video surveillance system that contains on-Board dates the IR-module, which includes a video camera with an optical system and video images.

3. The method according to claim 2, characterized in that as a landing ground equipment using one or more optical reflectors, such as mirrors, which have, respectively, at the desired point of landing either in the form of a predetermined geometric shape on the perimeter or inside the landing field.

4. The method according to claim 1, characterized in that for translation BLAH in the autorotation mode synchronously rotate the plane of its wings in opposite directions about their longitudinal axes at angles not greater than 90°and after transfer to the BLAH in the autorotation mode set the plane of the wings perpendicular to the longitudinal axis BLAH.

5. The method according to claim 1, characterized in that the brake mechanism using a mechanical spring, which before the beginning of the flight BLAH set in the bow of the UAV along its longitudinal axis, produce a mechanical spring when landing UAV command system videomagazine directly before touching the surface of the landing site and thus extinguish the kinetic energy of the UAV, providing a soft landing in an upright position.