The invention discloses a six-degree-of-freedom flight test method and test platform for a micro-nano single-rotor helicopter. The method comprises the following steps: building a micro-nano single-rotor helicopter flight test platform; the micro-nano single-rotor unmanned helicopter to be tested is placed in the motion capture system; the motion capture system comprises attitude capture cameras arranged at multiple positions of an indoor flight field and a ground station. Calculating first pose data of the aircraft according to flight data obtained during interactive communication with the micro-nano single-rotor helicopter; acquiring second pose data according to the flight attitude and the spatial position captured by the camera; when the position displayed by the ground station and the flight attitude solution captured by the camera are stably converged, the remote controller is used for controlling the micro-nano single-rotor helicopter to switch modes for testing. According to the invention, the actual flight data of the aircraft can be obtained according to the pose fusion data provided by the system, so that the control algorithm can be adjusted in time; and the research and development efficiency of the flight control design of the micro-nano single-rotor unmanned helicopter is improved.
本发明公开了一种微纳单旋翼直升机六自由度飞行测试方法及测试平台,包括搭建微纳单旋翼直升机飞行测试平台;将待测试的微纳单旋翼无人直升机置于运动捕捉系统中;动作捕捉系统包括在室内飞行场地多处布设的姿态捕捉摄像机和地面站;根据与微纳单旋翼直升机交互通信时获取的飞行数据解算得到飞机的第一位姿数据;根据摄像机捕捉的飞行姿态和空间位置,获取第二位姿数据;当地面站显示位置与摄像机捕捉的飞行姿态解算稳定收敛时,使用遥控器控制微纳单旋翼直升机切换模式进行测试。本申请能够根据系统提供的位姿融合数据,获得飞机的实际飞行数据,从而及时对控制算法进行调整;提高微纳单旋翼无人直升机飞行控制设计的研发效率。
Micro-nano single-rotor helicopter six-degree-of-freedom flight test method and platform
一种微纳单旋翼直升机六自由度飞行测试方法及平台
2024-06-04
Patent
Electronic Resource
Chinese
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 |