CN116022355B - Performance evaluation and parameter setting platform for multi-rotor unmanned aerial vehicle - Google Patents
Performance evaluation and parameter setting platform for multi-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to a parameter setting platform for a multi-rotor unmanned aerial vehicle, which comprises two side posts, a plurality of connecting posts and two mounting posts, wherein the connecting posts are horizontally fixed between one sides of the two side posts opposite to each other through bolts, and the two mounting posts are respectively fixed with the top ends of the two side posts through bolts. This a performance evaluation and parameter setting platform for many rotor unmanned aerial vehicle can measure the evaluation to the biggest take-off pulling force of unmanned aerial vehicle, maximum torque, action coupling moment, key performance parameters such as maximum angular velocity to optimize setting to gesture loop's control parameter, platform simple structure is reliable, and whole platform adopts bolted connection, and easy dismounting can accomplish unmanned aerial vehicle's performance evaluation and parameter setting effectively, therefore very convenient at the in-process of test, and efficiency is higher relatively, not only difficult the damage that causes unmanned aerial vehicle, also provides the assurance for personal safety simultaneously, also does not need to rely on excessively to fly the hand.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle testing, in particular to a performance evaluation and parameter setting platform for a multi-rotor unmanned aerial vehicle.
Background
The multi-rotor unmanned aerial vehicle is a special unmanned helicopter with three or more rotor shafts. The rotor is driven by the rotation of the motor on each shaft, so that lifting thrust is generated, the total distance of the rotor is fixed, the rotor is not as variable as a common helicopter, the magnitude of single-shaft thrust can be changed by changing the relative rotation speed between different rotors, the running track of the aircraft is controlled, the operability is high, the vertical take-off and landing and hovering can be realized, and the rotor is mainly applicable to low-altitude, low-speed and vertical take-off and landing and hovering required task types.
Along with the rapid development of unmanned aerial vehicle technology and the popularization of products, each application field puts forward higher requirements on the performance of each aspect of an unmanned aerial vehicle platform, and particularly under the conditions of using different flight control algorithms or carrying different measurement loads and the like, the performance and control parameters of the unmanned aerial vehicle need to be accurately tested and regulated, however, the existing unmanned aerial vehicle test often depends on a flying hand excessively, and the performance of the unmanned aerial vehicle is evaluated and the control parameters are improved through the perceived knowledge of the flying hand; the method is time-consuming and labor-consuming, has low efficiency, is easy to damage the unmanned aerial vehicle, and even threatens personal safety, so that the ultimate flight performance of the unmanned aerial vehicle is very necessary to be evaluated and the control parameters are very necessary to be optimized in the debugging and testing stage of the unmanned aerial vehicle product.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a performance evaluation and parameter setting platform for a multi-rotor unmanned aerial vehicle, which has the advantages of convenience in testing, high efficiency and the like, and solves the problems of time and labor waste, low efficiency, easiness in damage to the unmanned aerial vehicle and threat to personal safety caused by performance test outdoors.
In order to achieve the above purpose, the present invention provides the following technical solutions: the parameter setting platform for the multi-rotor unmanned aerial vehicle comprises two side posts, a plurality of connecting posts and two mounting posts, wherein the connecting posts are horizontally fixed between the opposite sides of the two side posts through bolts, and the two mounting posts are respectively fixed with the top ends of the two side posts through bolts;
the left side of side post is through the bolt fastening has signal processing host computer, and two the installation post is on the back of the body one side all has the installation piece through the bolt fastening, and the left side of installation piece is through the bolt fastening has incremental encoder, two rotate through the bearing frame between the opposite one side of installation piece be connected with the bracing piece of incremental encoder output shaft fixed, the center department of bracing piece surface is through the bolt fastening has the mount pad, the upper surface of mount pad is through the bolt fastening has six-dimensional torque sensor.
Further, a limiting part used for limiting the rotation angle of the support rod is arranged between the two mounting columns, the limiting part comprises limiting brackets fixed on the opposite sides of the two mounting columns through bolts respectively, and limiting sleeves facing the direction of the limiting brackets are fixed on the left side and the right side of the outer surface of the support rod through bolts.
Further, two jambs, a plurality of spliced poles and two erection columns are the aluminium post, the bracing piece is the carbon fiber pole, the fixed orifices has been seted up to six-dimensional torque sensor's upper surface, six-dimensional torque sensor can dismantle through fixed orifices and bolt and be fixed with many rotor unmanned aerial vehicle.
The invention also provides a performance evaluation method of the multi-rotor unmanned aerial vehicle with the parameter setting platform, which comprises the parameter setting platform for the multi-rotor unmanned aerial vehicle according to any one of the claims, and comprises the following steps:
s1, firstly, a multi-rotor unmanned aerial vehicle is fixed on a six-dimensional torque sensor through bolts;
s2, through the operation of the incremental encoder, the support rod is carried to rotate, the multi-rotor unmanned aerial vehicle is further carried to rotate, and the rotation angle of the multi-rotor unmanned aerial vehicle is measured;
s3, the multi-rotor unmanned aerial vehicle moves through a six-dimensional torque sensor, and the six-dimensional torque sensor measures the force and torque of the three shafts of the multi-rotor unmanned aerial vehicle;
s4, in the process that the incremental encoder and the six-dimensional torque sensor measure the multi-rotor unmanned aerial vehicle, the signal processing host acquires pulse signals of the incremental encoder and voltage signals of the six-dimensional torque sensor, and the performance of the unmanned aerial vehicle is evaluated and real-time parameter optimization setting is carried out based on the pulse signals and the voltage signals of the six-dimensional torque sensor.
Furthermore, the signal processing host computer is based on the low-cost data acquisition unit of ARM kernel, and can communicate and interact with the unmanned aerial vehicle flight control system in a wireless or wired mode.
Furthermore, the incremental encoder is a common speed measurement sensor, can measure the rotation angle of the mechanism in unit time in real time, and the pulse signal of the incremental encoder is connected to the signal processing host in a wired mode.
Further, the six-dimensional torque sensor is used for measuring force and torque relative to the three axes of the body, and outputting voltage analog signals, the voltage signals are connected into the signal processing host through wired modes, and the signal processing host obtains accurate force and torque values through amplification, filtering and sampling.
Further, the rotatory in-process of bracing piece utilizes the bearing frame to support, realizes that many rotor unmanned aerial vehicle rotates around the bracing piece, the rotatory in-process of bracing piece is rotatory with the stop collar, and utilizes spacing support to carry out spacingly to the stop collar, further carries out spacingly to many rotor unmanned aerial vehicle's rotation angle.
Further, the unmanned aerial vehicle flight control system comprises two types of electric signals, namely a pulse signal of an incremental encoder and a voltage signal output by a six-dimensional torque sensor; the two signals are processed by a signal processing host, and the signal processing host is embedded into various software and hardware modules, and comprises a pre-processing function such as an accumulator, an operational amplifier, a speed observer, a filter, a fusion filtering algorithm and the like, and also comprises an intelligent algorithm for optimizing a parameter strategy and a performance evaluation strategy.
Further, the signals of the incremental encoder and the six-dimensional torque sensor are processed to obtain optimal control parameters of the unmanned aerial vehicle under corresponding conditions and key parameters for evaluating the performance of the unmanned aerial vehicle, wherein the optimal control parameters mainly comprise attitude control parameters of the unmanned aerial vehicle, attitude angle control parameters and angular speed control parameters; the multi-rotor unmanned aerial vehicle performance parameters include maximum takeoff weight, maximum roll angle rate, maximum pitch angle rate, and maximum yaw angle rate.
Compared with the prior art, the technical scheme of the application has the following beneficial effects:
this a performance evaluation and parameter setting platform for many rotor unmanned aerial vehicle can measure the evaluation to the biggest take-off pulling force of unmanned aerial vehicle, maximum torque, action coupling moment, biggest angular velocity etc. key performance parameter, and optimize the setting to attitude loop's control parameter, platform simple structure is reliable, whole platform adopts bolted connection, and easy dismounting, unmanned aerial vehicle's performance evaluation and parameter setting can be accomplished to high efficiency, therefore very convenient in the in-process of test, and efficiency is relatively higher, not only be difficult for causing unmanned aerial vehicle's damage, simultaneously also provide the assurance for personal safety, also do not need excessively to rely on the flight hand, and do not need to carry out evaluation and improvement control parameter to unmanned aerial vehicle's performance through the sense understanding of flight hand, the platform can carry out high-efficient performance test to unmanned aerial vehicle flight gesture, characteristics such as test accuracy is high, moreover, the simple structure, easy dismounting, unmanned aerial vehicle's security, reliability is effectively guaranteed.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a functional process flow of the unmanned aerial vehicle flight control system of the present invention;
FIG. 3 is a schematic view of the technical effect of the platform of the present invention.
In the figure: 1 side column, 2 spliced pole, 3 erection column, 4 signal processing host computer, 5 mounting plate, 6 incremental encoder, 7 bracing piece, 8 mount pad, 9 six-dimensional moment sensor, 10 locating part.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-3, a parameter setting platform for a multi-rotor unmanned aerial vehicle in the present embodiment includes two side posts 1, a plurality of connecting posts 2 and two mounting posts 3, wherein the plurality of connecting posts 2 are horizontally fixed between opposite sides of the two side posts 1 through bolts, and the two mounting posts 3 are respectively fixed with top ends of the two side posts 1 through bolts.
The left side of the left side column 1 is fixedly provided with a signal processing host 4 through bolts, one sides of the two mounting columns 3 opposite to each other are fixedly provided with mounting plates 5 through bolts, the left side of the left side mounting plates 5 is fixedly provided with an incremental encoder 6 through bolts, the incremental encoder 6 converts displacement into periodic electric signals, the electric signals are converted into counting pulses, the number of the pulses is used for representing the size of the displacement, the encoder can be divided into two types of incremental type and absolute type according to the working principle, a supporting rod 7 fixed with an output shaft of the incremental encoder 6 is rotatably connected between one side of the two mounting plates 5 through a bearing seat, the center of the outer surface of the supporting rod 7 is fixedly provided with a mounting seat 8 through bolts, and the upper surface of the mounting seat 8 is fixedly provided with a six-dimensional torque sensor 9 through bolts.
Be provided with the locating part 10 that is used for carrying out spacing to bracing piece 7 rotation angle between two erection columns 3, locating part 10 is including fixing the spacing support in two opposite sides of erection columns 3 through the bolt respectively, and the left and right sides of bracing piece 7 surface all is equipped with the stop collar towards spacing support direction through the bolt fastening.
Wherein, two jambs 1, a plurality of spliced pole 2 and two erection columns 3 are the aluminium post, bracing piece 7 is the carbon fiber pole, and carbon fiber indicates the high strength high modulus fibre that carbon content is more than 90%, has high temperature resistant, antifriction, electric conduction, heat conduction and corrosion-resistant scheduling characteristic, and the fixed orifices has been seted up to six-dimensional torque sensor 9's upper surface, and six-dimensional torque sensor 9 can dismantle through fixed orifices and bolt and be fixed with many rotor unmanned aerial vehicle, consequently whole platform adopts the bolt to connect, can be convenient for assemble and dismantle.
In this implementation, the periphery wall of stop collar is fixed with spacing piece perpendicularly, and when spacing piece rotates along with spacing cover, can with spacing support contact, and forward or backward rotation can be respectively with spacing support's front and back both sides contact, consequently comes spacing to stop collar and bracing piece 7 rotation angle, further carries out spacingly to many rotor unmanned aerial vehicle's rotation angle.
The invention also provides a performance evaluation method of the multi-rotor unmanned aerial vehicle with the parameter setting platform, which comprises any parameter setting platform for the multi-rotor unmanned aerial vehicle, and comprises the following steps:
s1, firstly, a multi-rotor unmanned aerial vehicle is fixed on a six-dimensional torque sensor 9 through bolts;
s2, through the operation of the incremental encoder 6, the multi-rotor unmanned aerial vehicle is driven to rotate by taking the supporting rod 7, and further driven to rotate, and the rotation angle of the multi-rotor unmanned aerial vehicle is measured;
s3, the multi-rotor unmanned aerial vehicle moves through a six-dimensional torque sensor 9, and the six-dimensional torque sensor 9 measures the force and torque of the three shafts of the multi-rotor unmanned aerial vehicle;
and S4, in the process of measuring the multi-rotor unmanned aerial vehicle by the incremental encoder 6 and the six-dimensional torque sensor 9, the signal processing host 4 collects pulse signals of the incremental encoder 6 and voltage signals of the six-dimensional torque sensor 9, and evaluates the performance of the unmanned aerial vehicle and optimizes and adjusts parameters in real time based on the two signals.
The signal processing host 4 is based on a low-cost data collector of an ARM core, and can communicate and interact with the unmanned aerial vehicle flight control system in a wireless or wired mode.
The incremental encoder 6 is a common speed measurement sensor, and can measure the rotation angle of the mechanism in unit time in real time, and the pulse signal of the incremental encoder 6 is connected to the signal processing host 4 in a wired manner.
The six-dimensional torque sensor 9 is used for measuring force and torque relative to the three axes of the body, outputs voltage analog signals, and the voltage signals are connected into the signal processing host through a wired mode, and the signal processing host 4 obtains accurate force and torque values through amplification, filtering and sampling.
Wherein, at the rotatory in-process of bracing piece 7, utilize the bearing frame to support, realize that many rotor unmanned aerial vehicle rotates around bracing piece 7, the rotatory in-process of bracing piece 7, rotate with the stop collar, and utilize spacing support to carry out spacingly to the stop collar, further carry out spacingly to many rotor unmanned aerial vehicle's rotation angle.
The unmanned aerial vehicle flight control system comprises two types of electric signals, namely a pulse signal of the incremental encoder 6 and a voltage signal output by the six-dimensional torque sensor 9; both signals are processed by a signal processing host 4, and the signal processing host 4 is embedded with various software and hardware modules, including pre-processing functions such as an accumulator, an operational amplifier, a speed observer, a filter, a fusion filtering algorithm and the like, and also includes intelligent algorithms for optimizing parameter strategies and performance evaluation strategies.
The specific functions of the software and hardware modules are as follows:
an accumulator: is a register used to store intermediate results of calculations and if there is no register like an accumulator, the result must be written back to memory after each calculation (addition, multiplication, shift, etc.), perhaps immediately read back.
An operational amplifier: is a circuit unit with very high amplification factor, and in practical circuits, a certain functional module is usually formed by combining a feedback network together, and is an amplifier with a special coupling circuit and feedback.
A speed observer: the photoelectric detector consists of a disc with holes or notches, a light source and a photoelectric tube, wherein when the disc rotates along with a detected shaft, light can only irradiate the photoelectric tube through the holes or notches, when the photoelectric tube is irradiated, the reverse resistance of the photoelectric tube is very low, then an electric pulse signal is output, when the light source is covered by the disc, the reverse resistance of the photoelectric tube is very high, the output end does not have signal output, thus the rotating speed of the detected shaft can be detected according to the number of holes or notches on the disc, when the detected shaft rotates for one circle, the photoelectric converter can output 60 pulse signals, and if the time base signal of the electronic counter is taken to be 1s, the rotating speed of the detected shaft can be directly read.
And (3) a filter: the frequency point of the specific frequency in the power line or the frequency outside the frequency point can be effectively filtered to obtain a power signal of the specific frequency or eliminate the power signal of the specific frequency.
The method comprises the steps of processing signals of an incremental encoder 6 and a six-dimensional torque sensor 9 to obtain optimal control parameters of the unmanned aerial vehicle and key parameters for evaluating the performance of the unmanned aerial vehicle under corresponding conditions, wherein the optimal control parameters mainly comprise attitude control parameters of the unmanned aerial vehicle, and comprise attitude angle control parameters and angular speed control parameters; the multi-rotor unmanned aerial vehicle performance parameters include maximum takeoff weight, maximum roll angle rate, maximum pitch angle rate, and maximum yaw angle rate.
It is to be noted that, the platform of the scheme outputs the optimal control parameters of the unmanned aerial vehicle under corresponding conditions by measuring the operation data of the fixedly connected unmanned aerial vehicle, and gives out performance evaluation indexes of the unmanned aerial vehicle, and the platform can perform high-efficiency performance test on the flight attitude of the unmanned aerial vehicle.
The beneficial effects of the embodiment are as follows: the unmanned aerial vehicle performance evaluation and parameter setting device has the advantages that key performance parameters such as the maximum take-off tension, the maximum torque, the action coupling moment and the maximum angular velocity of the unmanned aerial vehicle can be measured and evaluated, the control parameters of the attitude loop are optimized and set, the platform structure is simple and reliable, the whole platform is connected through bolts, and the unmanned aerial vehicle performance evaluation and parameter setting device is convenient to assemble and disassemble, can be efficiently completed, is quite convenient in the test process, is relatively high in efficiency, not only is damage to the unmanned aerial vehicle difficult to cause, but also provides guarantee for personal safety, does not need to excessively depend on a flying hand, and does not need to evaluate the performance of the unmanned aerial vehicle and improve the control parameters through the sense understanding of the flying hand.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A parameter setting platform for many rotor unmanned aerial vehicle, includes two jambs (1), a plurality of spliced pole (2) and two erection columns (3), its characterized in that:
the connecting columns (2) are horizontally fixed between the opposite sides of the two side columns (1) through bolts, and the two mounting columns (3) are respectively fixed with the top ends of the two side columns (1) through bolts;
the left side of the side column (1) is fixedly provided with a signal processing host machine (4) through bolts, one sides of the two mounting columns (3) which are opposite are fixedly provided with mounting plates (5) through bolts, the left side of the mounting plates (5) is fixedly provided with an incremental encoder (6) through bolts, one sides of the two mounting plates (5) which are opposite are rotatably connected with a supporting rod (7) which is fixedly connected with an output shaft of the incremental encoder (6) through a bearing seat, the center of the outer surface of the supporting rod (7) is fixedly provided with a mounting seat (8) through bolts, and the upper surface of the mounting seat (8) is fixedly provided with a six-dimensional torque sensor (9) through bolts;
a limiting piece (10) for limiting the rotation angle of the supporting rod (7) is arranged between the two mounting columns (3), the limiting piece (10) comprises limiting brackets fixed on the opposite sides of the two mounting columns (3) through bolts respectively, and limiting sleeves facing the direction of the limiting brackets are fixed on the left side and the right side of the outer surface of the supporting rod (7) through bolts;
the limiting piece is vertically fixed on the peripheral wall of the limiting sleeve, and when the limiting piece rotates along with the limiting sleeve, the limiting piece contacts with the limiting support, and the limiting piece rotates forwards or backwards to contact with the front side and the rear side of the limiting support respectively.
2. The parameter tuning platform for a multi-rotor unmanned aerial vehicle of claim 1, wherein:
the six-dimensional torque sensor comprises two side posts (1), a plurality of connecting posts (2) and two mounting posts (3), wherein the two side posts (1), the plurality of connecting posts (2) and the two mounting posts (3) are aluminum posts, the supporting rods (7) are carbon fiber rods, fixing holes are formed in the upper surfaces of the six-dimensional torque sensor (9), and the six-dimensional torque sensor (9) is detachably fixed with a multi-rotor unmanned aerial vehicle through the fixing holes and bolts.
3. A method for evaluating the performance of a multi-rotor unmanned aerial vehicle with a parameter setting platform, comprising the parameter setting platform for the multi-rotor unmanned aerial vehicle according to any one of claims 1-2, characterized in that,
the method comprises the following steps:
s1, firstly, a multi-rotor unmanned aerial vehicle is fixed on a six-dimensional torque sensor (9) through bolts;
s2, through the operation of the incremental encoder (6), the multi-rotor unmanned aerial vehicle is driven to rotate by taking the supporting rod (7), and further driven to rotate, and the rotation angle of the multi-rotor unmanned aerial vehicle is measured;
s3, the multi-rotor unmanned aerial vehicle moves through a six-dimensional torque sensor (9), and the six-dimensional torque sensor (9) measures the force and torque of the three shafts of the multi-rotor unmanned aerial vehicle;
s4, in the process that the incremental encoder (6) and the six-dimensional torque sensor (9) measure the multi-rotor unmanned aerial vehicle, the signal processing host (4) collects pulse signals of the incremental encoder (6) and voltage signals of the six-dimensional torque sensor (9), and the performance of the unmanned aerial vehicle is evaluated and real-time parameter optimization and setting are carried out based on the two signals.
4. A method for evaluating the performance of a multi-rotor unmanned aerial vehicle with a parameter tuning platform according to claim 3, wherein:
the signal processing host (4) is based on a low-cost data collector of an ARM core, and can communicate and interact with the unmanned aerial vehicle flight control system in a wireless or wired mode.
5. A method for evaluating the performance of a multi-rotor unmanned aerial vehicle with a parameter tuning platform according to claim 3, wherein:
the incremental encoder (6) is a common speed measurement sensor, can measure the rotation angle of the mechanism in unit time in real time, and pulse signals of the incremental encoder (6) are connected into the signal processing host (4) in a wired mode.
6. A method for evaluating the performance of a multi-rotor unmanned aerial vehicle with a parameter tuning platform according to claim 3, wherein:
the six-dimensional torque sensor (9) is used for measuring force and torque relative to the three axes of the body, outputting voltage analog signals, the voltage signals are connected into the signal processing host (4) in a wired mode, and the signal processing host (4) acquires accurate force and torque values through amplification, filtering and sampling.
7. A method for evaluating the performance of a multi-rotor unmanned aerial vehicle with a parameter tuning platform according to claim 3, wherein:
the in-process that bracing piece (7) rotated utilizes the bearing frame to support, realizes that many rotor unmanned aerial vehicle rotates around bracing piece (7), the rotatory in-process of bracing piece (7) is rotatory with the stop collar, and utilizes spacing support to carry out spacingly to spacing cover, further carries out spacingly to many rotor unmanned aerial vehicle's rotation angle.
8. The method for evaluating the performance of the multi-rotor unmanned aerial vehicle with the parameter setting platform according to claim 4, wherein the method comprises the following steps of:
the unmanned aerial vehicle flight control system comprises two types of electric signals, namely pulse signals of an incremental encoder (6) and voltage signals output by a six-dimensional torque sensor (9); the two signals are processed by a signal processing host (4), and the signal processing host (4) is embedded into various software and hardware modules, including an accumulator, an operational amplifier, a speed observer, a filter, a fusion filtering algorithm pre-processing function and an intelligent algorithm for optimizing parameter strategies and performance evaluation strategies.
9. The method for evaluating the performance of the multi-rotor unmanned aerial vehicle with the parameter setting platform according to claim 8, wherein the method comprises the following steps of:
the method comprises the steps of processing signals of an incremental encoder (6) and a six-dimensional torque sensor (9) to obtain optimal control parameters of the unmanned aerial vehicle and key parameters for evaluating the performance of the unmanned aerial vehicle under corresponding conditions, wherein the optimal control parameters mainly comprise attitude control parameters of the unmanned aerial vehicle, and comprise attitude angle control parameters and angular speed control parameters; the multi-rotor unmanned aerial vehicle performance parameters include maximum takeoff weight, maximum roll angle rate, maximum pitch angle rate, and maximum yaw angle rate.
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| CN103175679B (en) * | 2013-03-01 | 2015-10-28 | 西安交通大学 | Quadrotor rotor characteristic integrated test system |
| CN105083588B (en) * | 2015-08-17 | 2017-04-05 | 华南农业大学 | A kind of many rotor unmanned aircraft Testing Platforms and method |
| CN204979272U (en) * | 2015-10-13 | 2016-01-20 | 李彦玮 | Accurate debugging device of many rotor crafts of quick detachable formula |
| CN105730716A (en) * | 2016-04-08 | 2016-07-06 | 东莞市瑞科五金塑胶制品有限公司 | Multifunction power system analysis meter of multi-rotor-wing unmanned aerial vehicle |
| CN106200658B (en) * | 2016-07-21 | 2019-01-04 | 华中科技大学 | A kind of varistructure multi-rotor unmanned aerial vehicle experiment porch |
| CN107444672B (en) * | 2017-06-23 | 2020-02-07 | 昆明理工大学 | Four rotor crafts gesture test fixed platform |
| CN108645425B (en) * | 2018-03-14 | 2022-03-08 | 东南大学 | Small-size rotor unmanned aerial vehicle gyroscope structure test system based on six-dimensional force sensor |
| CN109229421B (en) * | 2018-09-25 | 2023-09-26 | 昆明理工大学 | Unmanned aerial vehicle power performance test system and method |
| CN210000613U (en) * | 2019-02-16 | 2020-01-31 | 天津大学 | Three-degree-of-freedom and single-degree-of-freedom attitude comprehensive debugging platform for universal aircrafts |
| CN109896048B (en) * | 2019-04-11 | 2024-02-27 | 之江实验室 | Three-degree-of-freedom platform for testing and calibrating multi-rotor low-altitude aircraft |
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