The invention discloses an unmanned aerial vehicle ground-imitating flight test system and a test method thereof, and the system comprises an unmanned aerial vehicle, an attitude sensor installed on the unmanned aerial vehicle, a surveying and mapping positioning system installed on an unmanned aerial vehicle controller, a position and attitude test system, and a ground-imitating flight test platform. According to the invention, the unmanned aerial vehicle is combined with the attitude sensor and the test platform, and the relative distance between the unmanned aerial vehicle and the ground can be accurately obtained through adoption of an indoor positioning test or an outdoor positioning test method, thereby achieving the following maintenance of the terrain of the unmanned aerial vehicle. According to the indoor positioning test method, a range finder and a gyroscope are adopted on the test platform to test the position heights of different points of the unmanned aerial vehicle to obtain the height and the pitch angle from the unmanned aerial vehicle to the test platform, so that the height and pitch angle change of the slope section oscillogram surveyed and mapped by the unmanned aerial vehicle is judged to be consistent with the height and pitch angle change of the platform test result, the maximum error of the height and the maximum error of the inclination angle are obtained, flight simulation evaluation is conducted, and the method is high in precision, resistant to interference and high in reliability.
本发明公开了一种无人机仿地飞行的测试系统及其测试方法,包括无人机,安装在无人机上的姿态传感器,安装在无人机控制器上的测绘定位系统、位置和姿态测试系统,还包括仿飞测试平台。本发明通过无人机结合姿态传感器、测试平台,通过室内定位测试或者室外定位测试的方法,可以精确得出无人机与地面间的相对距离,实现无人机地形的跟随保持。在室内定位测试方法中,测试平台上采用测距仪和陀螺仪来测试无人机不同点的位置高度,得到无人机距离测试平台的高度和俯仰角,判断无人机测绘的山坡断面波形图的高度和俯仰角变化与平台测试结果的高度和俯仰角变化一致性,得到高度的最大误差和倾角的最大误差,进行仿飞评价,其精度高、抗干扰、高可靠。
Unmanned aerial vehicle ground-imitating flight test system and test method thereof
一种无人机仿地飞行的测试系统及其测试方法
2020-06-02
Patent
Elektronische Ressource
Chinesisch
IPC: | B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen |
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