Unmanned helicopter, takeoff method of unmanned helicopter, and landing method of unmanned helicopter

An unmanned helicopter for making a flight autonomously,

• the unmanned helicopter comprising:
• altitude control device for controlling a collective pitch blade angle based on a blade angle command calculated based on the deviation between a fed-back altitude and an altitude command and the deviation between a fed-back descent rate and a descent rate command;
• position control device for performing position control based on the deviation between a fed-back position and a position command with respect to a horizontal position and the deviation between fed-back speed and a speed command;
• attitude control device for performing attitude control of an airframe based on the deviation between a fed-back attitude angle and an attitude angle command;
• and
• descending device for stepwise changing descent rate command of the altitude control device for causing the airframe to descend to a second altitude and giving a descent rate command smaller than the descent rate command to the second altitude to the altitude control device for causing the airframe to descend from the second altitude to the ground.

An autonomous takeoff method of an unmanned helicopter comprising:

• a first climbing step of climbing to a first altitude while increasing a climb rate by increasing a collective pitch blade angle command at a constant rate;
• and
• a second climbing step of climbing while performing altitude control from the first altitude,
• wherein the helicopter is autonomously controlled for takeoff,
• wherein the second climbing step is performed according to a fed back control based on a deviation between a fed-back altitude and an altitude command and a deviation between a fed-back altitude change rate and an altitude change rate command.

An autonomous landing method of an unmanned helicopter comprising:

• a first descending step of stepwise decreasing a descent rate and descending to a second altitude;
• and
• a second descending step of descending from the second altitude to the ground at a descent rate smaller than the descent rate in the first step,
• wherein the helicopter is autonomously controlled for descending to the ground,
• wherein the second descending step comprises the step of changing a collective pitch blade angle according to a fed back control based on a deviation between a fed-back altitude and an altitude command and a deviation between a fed-back altitude change rate and an altitude change rate command.