A device and method for automatically measuring the center of mass of a suspended flying vehicle

Abstract

The application provides a kind of suspension type flying vehicle centroid automatic measuring device and method, it is related to centroid measuring technical field, suspension type flying vehicle includes front ear and rear ear, comprising: rack;The upper side of adjusting plate is provided with the front weighing sensor, left weighing sensor and right weighing sensor arranged in isosceles triangle;Upper plate is in contact with three weighing sensors;Tilt mechanism, including connecting rod and lifting rod, front connecting ear and rear connecting ear are provided with connecting ear connecting plate and are used for being connected with front ear and rear ear respectively, connecting ear connecting plate is provided with tilt inclination sensor;Control unit, with front weighing sensor, left weighing sensor, right weighing sensor, lifting rod and tilt inclination sensor electric connection;Solve the problem that the centroid of the suspension type flying vehicle in the prior art cannot be measured by using the existing centroid measurement method for missile and fixed wing, so that the centroid of the suspension type flying vehicle becomes a problem.

Description

Technical Field

[0001] This invention belongs to the field of centroid measurement technology, and more specifically, relates to an automatic centroid measurement device and method for a suspended loitering rovers. Background Technology

[0002] Currently, the main method for measuring the center of mass of an aircraft is the support method, which involves supporting the aircraft with three or four sensors and measuring the center of mass based on the principle of torque balance.

[0003] For external rotating body structures such as missiles, a fitting arc surface tooling is used for fixation. First, the horizontal center of mass is measured. Then, the rotating body structure is rotated 90 degrees along the axis to measure the vertical center of mass.

[0004] Fixed-wing and other non-rotational aircraft utilize landing gear supported on a measurement platform to measure the horizontal center of gravity, and then measure the vertical center of gravity by changing the pitch attitude. The larger the pitch angle, the higher the accuracy of the vertical center of gravity measurement. Considering the convenience of practical operation, the pitch angle is usually controlled within 5°, resulting in lower accuracy of the vertical center of gravity measurement.

[0005] A suspended loitering pod is a type of fixed-wing aircraft that is mounted on a mother aircraft's launch pad via two mounting lugs. After takeoff, the mother aircraft launches the pod using a missile. Due to its non-rotating body structure, the pod cannot easily rotate 90 degrees along its axis, and its lack of landing gear makes it difficult to use a bottom-supported structure for attitude changes. Therefore, measuring the center of gravity of a suspended loitering pod cannot be done using the two methods mentioned above, making its measurement a challenging task. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing an automatic measurement device and method for the center of mass of a suspended loitering wing, thereby solving the problem that the measurement of the center of mass of a suspended loitering wing cannot be performed using existing methods for measuring the center of mass of missiles and fixed wings, making the measurement of the center of mass of a suspended loitering wing a difficult problem.

[0007] To achieve the above objectives, the present invention provides an automatic centroid measuring device for a suspended loitering pod, wherein the suspended loitering pod includes a front mounting lug and a rear mounting lug, and the device includes:

[0008] frame;

[0009] An adjustment plate is connected to the frame via a leveling structure. The upper side of the adjustment plate is provided with a front weighing sensor, a left weighing sensor, and a right weighing sensor arranged in an isosceles triangle.

[0010] an upper plate arranged above the adjusting plate and in contact with the front load sensor, the left load sensor and the right load sensor;

[0011] a tilting mechanism comprising a connecting rod and a lifting rod, one end of the connecting rod and one end of the lifting rod being connected with the upper plate, the other end of the connecting rod being hingedly connected with one end of a rotating rod, the rotating rod and the lifting rod penetrating through first and second through holes of the adjusting plate respectively and forming gaps between the first and second through holes respectively, the other end of the rotating rod and the other end of the lifting rod being hingedly connected with a front connecting lug and a rear connecting lug respectively, a connecting lug connecting plate being arranged between the front connecting lug and the rear connecting lug and being used for connecting with the front hanging lug and the rear hanging lug respectively, the connecting lug connecting plate being provided with a tilting inclination sensor;

[0012] a control unit electrically connected with the front load sensor, the left load sensor, the right load sensor, the lifting rod and the tilting inclination sensor and capable of calculating the center of mass position of the suspended aerial vehicle according to the load sensing results of the front load sensor, the left load sensor and the right load sensor when the tilting inclination sensor is at different inclinations.

[0013] Optionally, the rack comprises a rectangular frame and four feet arranged below four corners of the rectangular frame, the feet being provided with universal wheels below.

[0014] Optionally, the leveling structure comprises four leveling bolts arranged on four corners of the adjusting plate and matched with the rack.

[0015] Optionally, the leveling structure further comprises a leveling inclination sensor arranged on the lower side of the upper plate.

[0016] Optionally, safety bolts are arranged on four corners of the adjusting plate, the safety bolts being arranged in bolt holes of the upper plate.

[0017] Optionally, the lifting rod comprises a lead screw and a lead screw connecting rod connected below the lead screw, the lead screw connecting rod being hingedly connected with the rear connecting lug, the lead screw being threadedly connected at the center of a gear, the gear being connected with a driving motor through a speed reducer.

[0018] Optionally, the lower side of the front load sensor, the left load sensor and the right load sensor is connected with the adjusting plate, the upper side of the front load sensor, the left load sensor and the right load sensor being provided with arc-shaped probe portions, the three probe portions being arranged in arc-shaped recesses on the lower surface of the upper plate respectively.

[0019] Optionally, the front connecting lug and the rear connecting lug are connected with the front hanging lug and the rear hanging lug by screws, respectively, and screw threaded holes are arranged on the front hanging lug and the rear hanging lug, respectively.

[0020] The application further provides a method for automatically measuring the center of mass of the suspension type aerial vehicle, which utilizes the automatic center of mass measuring device for the suspension type aerial vehicle.

[0021] The adjusting plate and the upper plate are leveled by the leveling structure;

[0022] The suspension type aerial vehicle is connected with the tilting mechanism by the connection of the front hanging lug and the rear hanging lug with the front connecting lug and the rear connecting lug, respectively.

[0023] The tilt angle of the tilt angle sensor is adjusted to a first tilt angle by adjusting the lifting of the lifting rod, the first tilt angle is 0°, and the first weighing result, the second weighing result and the third weighing result of the front weighing sensor, the left weighing sensor and the right weighing sensor are collected, respectively;

[0024] The mass of the suspension type aerial vehicle and the center of mass position of the suspension type aerial vehicle in the X axis and the Z axis are calculated according to the first weighing result, the second weighing result and the third weighing result and the relative position relationship of the front weighing sensor, the left weighing sensor and the right weighing sensor.

[0025] The tilt angle of the tilt angle sensor is adjusted to a second tilt angle by adjusting the lifting of the lifting rod, and the fourth weighing result, the fifth weighing result and the sixth weighing result of the front weighing sensor, the left weighing sensor and the right weighing sensor are collected, respectively;

[0026] The center of mass position of the suspension type aerial vehicle in the Y axis is calculated according to the fourth weighing result, the fifth weighing result and the sixth weighing result and the center of mass position of the suspension type aerial vehicle in the X axis and the Z axis.

[0027] Optionally, the mass of the suspension type aerial vehicle is calculated by using the following formula one:

[0028] G = P1 + P2 + P3

[0029] Wherein, G is the weight of the suspension type aerial vehicle, P1, P2 and P3 are the first weighing result, the second weighing result and the third weighing result, respectively.

[0030] The center of mass position of the suspension type aerial vehicle in the X axis and the Z axis is calculated by using the following formula two:

[0031]

[0032] Wherein, x is the mass center position of the X-axis direction when the tilt angle sensor is at the first tilt angle, L is the distance from the front weighing sensor measuring point to the Z-axis, h1 and h2 are the distances from the left and right weighing sensors to the X-axis respectively; the X-axis is the direction of the perpendicular line from the vertex to the base of the isosceles triangle, the Y-axis is the direction of the base of the isosceles triangle, and the Z-axis is the direction of the vertical line passing through the midpoint of the base of the isosceles triangle;

[0033] The mass center position of the suspension type aerial vehicle in the Y-axis is calculated by using the following formula three:

[0034]

[0035] Wherein, x' is the mass center position of the X-axis direction when the tilt angle sensor is at the second tilt angle, a is the distance from the rotation point of the front hanging ear to the theoretical mass center plane of the suspension type aerial vehicle, and θ is the second tilt angle.

[0036] The present application provides a suspension type aerial vehicle mass center automatic measurement device and method, which has the beneficial effects that the device makes full use of the suspension type aerial vehicle hanging ear for installation test, all weighing sensor signals and tilt angle sensor signals can be collected and calculated through the control system unit; the tilt and measurement are automatically completed in the mass center measurement process, the measurement is convenient; and the multiple repeated measurements can be automatically performed, the random error is eliminated, and the measurement precision is high.

[0037] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0038] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout the several views, and in which the exemplary embodiments of the present application are shown.

[0039] Figure 1 A three-dimensional structure schematic diagram of a suspension type aerial vehicle mass center automatic measurement device according to one embodiment of the present application is shown.

[0040] Figure 2 A local structure schematic diagram of an adjusting plate and an upper plate of a suspension type aerial vehicle mass center automatic measurement device according to one embodiment of the present application is shown.

[0041] Figure 3 A local structure schematic diagram of an upper plate of a suspension type aerial vehicle mass center automatic measurement device according to one embodiment of the present application is shown.

[0042] Figure 4 A local structure schematic diagram of an adjusting plate of a suspension type aerial vehicle mass center automatic measurement device according to one embodiment of the present application is shown.

[0043] Figure 5 A partial structure schematic diagram of a tilting mechanism of a suspension type aerial vehicle centroid automatic measurement device according to an embodiment of the present application is shown.

[0044] Figure 6 A structure schematic diagram of a tilting angle sensor of a suspension type aerial vehicle centroid automatic measurement device according to an embodiment of the present application is shown when the tilting angle of the tilting angle sensor is a first tilting angle.

[0045] Figure 7 A structure schematic diagram of a tilting angle sensor of a suspension type aerial vehicle centroid automatic measurement device according to an embodiment of the present application is shown when the tilting angle of the tilting angle sensor is a second tilting angle.

[0046] BRIEF DESCRIPTION OF DRAWINGS

[0047] 1, frame; 2, adjusting plate; 3, front load sensor; 4, left load sensor; 5, right load sensor; 6, upper plate; 7, connecting rod; 8, rotating rod; 9, front connecting lug; 10, rear connecting lug; 11, connecting lug connecting plate; 12, tilting angle sensor; 13, control unit; 14, leveling bolt; 15, leveling angle sensor; 16, safety bolt; 17, screw rod; 18, speed reducer; 19, driving motor; 20, switching power supply; 21, suspension type aerial vehicle; 22, screw rod connecting rod. DETAILED DESCRIPTION

[0048] The preferred embodiments of the present application will be described in more detail below. Although the preferred embodiments of the present application are described below, it is understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0049] As Figures 1 to 5 shown, the present application provides a suspension type aerial vehicle centroid automatic measurement device, the suspension type aerial vehicle comprising a front hanging lug and a rear hanging lug, the device comprising:

[0050] a frame 1;

[0051] an adjusting plate 2 connected to the frame 1 through a leveling structure, the upper side of the adjusting plate 2 being provided with a front load sensor 3, a left load sensor 4 and a right load sensor 5 arranged in an isosceles triangle shape;

[0052] an upper plate 6 arranged above the adjusting plate 2 and in contact with the front load sensor 3, the left load sensor 4 and the right load sensor 5;

[0053] The tilting mechanism comprises a connecting rod 7 and a lifting rod, one end of the connecting rod 7 and one end of the lifting rod are connected with the upper plate 6, the other end of the connecting rod 7 is hingedly connected with one end of a rotating rod 8, the rotating rod 8 and the lifting rod respectively pass through first and second through holes of the adjusting plate 2 and form gaps with the first and second through holes, the other end of the rotating rod 8 and the other end of the lifting rod are respectively hingedly connected with a front connecting lug 9 and a rear connecting lug 10, a connecting lug connecting plate 11 is arranged between the front connecting lug 9 and the rear connecting lug 10 and is used for being connected with the front hanging lug and the rear hanging lug, and a tilting inclination sensor 12 is arranged on the connecting lug connecting plate 11;

[0054] The control unit 13 is electrically connected with the front weighing sensor 3, the left weighing sensor 4, the right weighing sensor 5, the lifting rod and the tilting inclination sensor 12, and can calculate the center of mass position of the suspended flying vehicle according to the weighing results of the front weighing sensor 3, the left weighing sensor 4 and the right weighing sensor 5 when the tilting inclination sensor 12 is at different inclinations.

[0055] Specifically, to solve the problem that the center of mass of the suspended flying vehicle cannot be measured by using the existing center of mass measurement method for missiles and fixed-wing aircrafts in the prior art, the center of mass measurement of the suspended flying vehicle becomes a difficult problem; the suspended flying vehicle center of mass automatic measurement device provided by the present application fully utilizes the installation and test of the hanging lug of the suspended flying vehicle, all weighing sensor signals and inclination sensor signals can be collected and calculated through the control system unit; the tilting and measurement are automatically completed during the center of mass measurement, the measurement is convenient; and the measurement can be automatically repeated multiple times, random errors are eliminated, and the measurement precision is high.

[0056] Optionally, the rack 1 comprises a rectangular frame and four supporting legs arranged below four corners of the rectangular frame, and universal wheels are arranged below the supporting legs.

[0057] Specifically, the rectangular frame is used for supporting the adjusting plate 2, the adjusting plate 2 is in contact with the rectangular frame through the leveling structure, the four supporting legs support the rectangular frame to a height sufficient to accommodate and hang the suspended flying vehicle, and the universal wheels are arranged to facilitate the movement of the device and convenient operation.

[0058] Optionally, the leveling structure comprises four leveling bolts 14 arranged on four corners of the adjusting plate 2 and matched with the rack 1.

[0059] Specifically, the adjusting plate 2 is a rectangular plate, and one leveling bolt 14 is arranged on each of four corners of the adjusting plate 2, and the adjusting plate 2 and the upper plate 6 above the adjusting plate 2 can be leveled by rotating the leveling bolts 14.

[0060] Optionally, the leveling structure further comprises a leveling inclination sensor 15 arranged on the lower side of the upper plate 6.

[0061] Specifically, the leveling inclination sensor 15 is arranged on the upper plate 6, used for checking the leveling state of the upper plate 6, ensuring the leveling effect and improving the accuracy of measurement.

[0062] Optionally, the four corners of the adjusting plate 2 are provided with safety bolts 16, which are arranged in the bolt holes of the upper plate 6.

[0063] Specifically, the four safety bolts 16 are movably arranged through the upper plate 6, which can prevent the upper plate 6 from falling off.

[0064] Optionally, the lifting rod comprises a lead screw 17 and a lead screw connecting rod 22 connected below the lead screw 17, the lead screw connecting rod 22 is hinged with the rear connecting lug 10, the lead screw 17 is threadedly connected at the center of the gear, and the gear is connected with the driving motor 19 through the speed reducer 18.

[0065] Specifically, the driving motor 19 drives the gear to rotate through the worm gear speed reducer 18, and the thread cooperation between the gear and the lead screw 17 enables the lead screw 17 to lift, thereby realizing the lifting of the lifting rod and driving the suspension type patrol aircraft suspended below the tilting mechanism to tilt.

[0066] Optionally, the lower side of the front load sensor 3, the left load sensor 4 and the right load sensor 5 is connected with the adjusting plate 2, and the upper side of the front load sensor 3, the left load sensor 4 and the right load sensor 5 is provided with a circular arc shaped probe part, and the three probe parts are arranged in the circular arc shaped pits on the lower surface of the upper plate 6 respectively.

[0067] Specifically, the front load sensor 3, the left load sensor 4 and the right load sensor 5 are respectively located at the top angle point and the two bottom angle points of the isosceles triangle, and in this embodiment, the front load sensor 3, the left load sensor 4 and the right load sensor 5 are also located on the circle with the theoretical gravity center as the center, which can ensure that the three load sensors are uniformly stressed and prevent overturning; the probe parts of the three load sensors and the lower surface of the upper plate 6 adopt the cooperation of circular arc and circular arc pit, which has self-adaptive performance, thereby ensuring the accuracy of weighing.

[0068] Optionally, the front connecting lug 9 and the rear connecting lug 10 are connected with the front hanging lug and the rear hanging lug through screws respectively, and the front hanging lug and the rear hanging lug are respectively provided with screw thread holes.

[0069] Specifically, the screws pass through the front connecting lug 9 and the rear connecting lug 10 and are screwed into the screw thread holes, realizing the suspension connection of the suspension type patrol aircraft.

[0070] In this embodiment, it also includes a display unit connected with the control unit 13, used for displaying the measurement state and the measurement result.

[0071] In the embodiment, the switching power supply 20 is further included, which can complete power supply and voltage conversion, and ensure the convenience of use of the device; the switching power supply 20 and the control unit 13 can be arranged on the upper side of the adjusting plate 2.

[0072] In the embodiment, when the inclination angle of the inclination angle sensor 12 is 0°, the screw threaded holes on the front hanging ear and the rear hanging ear are at the same height; the inclination angle of the connecting ear connecting plate 11 measured by the inclination angle sensor 12 is the axial inclination angle of the suspension type patrol aircraft.

[0073] In the embodiment, the driving motor 19 is a servo motor.

[0074] In the embodiment, one end of the connecting rod 7 is connected with the upper plate 6 through a flange plate.

[0075] The application further provides a suspension type patrol aircraft centroid automatic measurement method, which utilizes the above suspension type patrol aircraft centroid automatic measurement device, and the method comprises the following steps:

[0076] The adjusting plate 2 and the upper plate 6 are leveled through the leveling structure;

[0077] The suspension type patrol aircraft is connected with the inclination mechanism through the connection of the front hanging ear and the rear hanging ear with the front connecting ear 9 and the rear connecting ear 10 respectively;

[0078] The inclination angle of the inclination angle sensor 12 is adjusted to be a first inclination angle through the lifting of the lifting rod, the first inclination angle is 0°, and the first weighing result, the second weighing result and the third weighing result of the front weighing sensor 3, the left weighing sensor 4 and the right weighing sensor 5 are collected respectively at this time;

[0079] The mass of the suspension type patrol aircraft and the centroid positions of the suspension type patrol aircraft in the X axis and the Z axis are calculated according to the first weighing result, the second weighing result and the third weighing result and the relative position relationship of the front weighing sensor 3, the left weighing sensor 4 and the right weighing sensor 5;

[0080] The inclination angle of the inclination angle sensor 12 is adjusted to be a second inclination angle through the lifting of the lifting rod, and the fourth weighing result, the fifth weighing result and the sixth weighing result of the front weighing sensor 3, the left weighing sensor 4 and the right weighing sensor 5 are collected respectively at this time;

[0081] The centroid position of the suspension type patrol aircraft in the Y axis is calculated according to the fourth weighing result, the fifth weighing result and the sixth weighing result and the centroid positions of the suspension type patrol aircraft in the X axis and the Z axis.

[0082] Optionally, the mass of the suspension type patrol aircraft is calculated by using the following formula one:

[0083] G=P1+P2+P3

[0084] Wherein, G is the weight of the suspension type flying vehicle, P1, P2, P3 are the first weighing result, the second weighing result, the third weighing result respectively;

[0085] The center of mass position of the suspension type flying vehicle in the X axis and the Z axis is calculated by using the following formula two:

[0086]

[0087] Wherein, x is the center of mass position in the X axis direction when the inclination angle of the inclination angle sensor 12 is the first inclination angle, L is the distance from the measurement point of the front weighing sensor 3 to the Z axis, h1 and h2 are the distances from the left weighing sensor 4 and the right weighing sensor 5 to the X axis respectively; the X axis is the vertical direction of the vertex to the base of the isosceles triangle, the Y axis is the direction of the base of the isosceles triangle, and the Z axis is the direction of the vertical line passing through the midpoint of the base of the isosceles triangle;

[0088] The center of mass position of the suspension type flying vehicle in the Y axis is calculated by using the following formula three:

[0089]

[0090] Wherein, x' is the center of mass position in the X axis direction when the inclination angle of the inclination angle sensor 12 is the second inclination angle, a is the distance from the rotation point of the front hanging ear to the theoretical center of mass plane of the suspension type flying vehicle, and θ is the second inclination angle.

[0091] Specifically, the second inclination angle can be set to 25°, and there will be a theoretical center of mass in the design process of the suspension type flying vehicle, the above-mentioned theoretical center of mass plane is the plane parallel to the YZ plane where the theoretical center of mass is located, and the vertical distance from the rotation point of the front hanging ear to the theoretical center of mass plane is a.

[0092] The above has described the embodiments of the present application, the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An automatic centroid measuring device for a suspended loitering pod, the suspended loitering pod comprising a front mounting lug and a rear mounting lug, characterized in that, The device includes: frame; An adjustment plate is connected to the frame via a leveling structure. The upper side of the adjustment plate is provided with a front weighing sensor, a left weighing sensor, and a right weighing sensor arranged in an isosceles triangle. The upper plate is positioned above the adjustment plate and is in contact with the front weighing sensor, the left weighing sensor, and the right weighing sensor; A tilting mechanism includes a connecting rod and a lifting rod. One end of the connecting rod and one end of the lifting rod are connected to the upper plate. The other end of the connecting rod is hinged to one end of a rotating rod. The rotating rod and the lifting rod pass through a first through hole and a second through hole on the adjusting plate, respectively, and form gaps between the first through hole and the second through hole. The other ends of the rotating rod and the lifting rod are respectively hinged to a front connecting ear and a rear connecting ear. A connecting ear connecting plate is provided between the front connecting ear and the rear connecting ear and is used to connect to the front hanging ear and the rear hanging ear, respectively. A tilt angle sensor is provided on the connecting ear connecting plate. The control unit is electrically connected to the front weighing sensor, the left weighing sensor, the right weighing sensor, the lifting rod, and the tilt angle sensor, and is able to calculate the center of gravity position of the suspended loitering vehicle based on the weighing results of the front weighing sensor, the left weighing sensor, and the right weighing sensor when the tilt angle sensor is at different tilt angles. The lifting rod includes a lead screw and a lead screw connecting rod connected below the lead screw. The lead screw connecting rod is hinged to the rear connecting lug. The lead screw is threaded to the center of the gear. The gear is connected to the drive motor through a reducer. The lower sides of the front weighing sensor, the left weighing sensor, and the right weighing sensor are connected to the adjustment plate. The upper sides of the front weighing sensor, the left weighing sensor, and the right weighing sensor are provided with arc-shaped probes. The three probes are respectively located in arc-shaped recesses on the lower surface of the upper plate. The front connecting ear and the rear connecting ear are respectively connected to the front hanging ear and the rear hanging ear by screws, and the front hanging ear and the rear hanging ear are respectively provided with screw thread holes.

2. The automatic centroid measuring device for a suspended loitering rovers according to claim 1, characterized in that, The frame includes a rectangular frame and four legs located at the lower corners of the rectangular frame, with casters located below the legs.

3. The automatic centroid measuring device for a suspended loitering rovers according to claim 1, characterized in that, The leveling structure includes four leveling bolts located at the four corners of the adjustment plate and cooperating with the frame.

4. The automatic centroid measuring device for a suspended loitering rovers according to claim 3, characterized in that, The leveling structure also includes a leveling tilt sensor, which is located on the lower side of the upper plate.

5. The automatic centroid measuring device for a suspended loitering rovers according to claim 1, characterized in that, Safety bolts are provided at the four corners of the adjustment plate, and the safety bolts pass through the bolt holes of the upper plate.

6. A method for automatically measuring the center of gravity of a suspended loitering rovers, utilizing the automatic center of gravity measuring device for suspended loitering rovers according to any one of claims 1-5, characterized in that, The method includes: The leveling structure is used to level the adjusting plate and the upper plate. The suspended loitering device is connected to the tilting mechanism by connecting the front and rear mounting lugs to the front and rear connecting lugs respectively. By adjusting the lifting rod, the tilt angle sensor is tilted to the first tilt angle, which is 0°. At this time, the first weighing result, the second weighing result, and the third weighing result of the front weighing sensor, the left weighing sensor, and the right weighing sensor are collected respectively. The mass of the suspended loitering drone and its center of mass positions on the X and Z axes are calculated based on the first weighing result, the second weighing result, the third weighing result, and the relative positional relationship of the front weighing sensor, the left weighing sensor, and the right weighing sensor. By adjusting the lifting rod to make the tilt angle sensor tilt to the second tilt angle, the fourth, fifth and sixth weighing results of the front weighing sensor, the left weighing sensor and the right weighing sensor are collected respectively. The position of the center of mass of the suspended loitering vehicle on the Y-axis is calculated based on the fourth, fifth, and sixth weighing results, and the positions of the center of mass of the suspended loitering vehicle on the X and Z axes.

7. The automatic measurement method for the center of gravity of a suspended loitering pod according to claim 6, characterized in that, The mass of the suspended loitering vehicle can be calculated using the following formula: G = P1 + P2 + P3 Where G is the weight of the suspended loitering drone, and P1, P2, and P3 are the first weighing result, the second weighing result, and the third weighing result, respectively. The centroid positions of the suspended loitering vehicle along the X and Z axes are calculated using the following formula: Where x is the position of the centroid in the X-axis direction when the tilt angle of the tilt sensor is the first tilt angle, L is the distance from the measuring point of the front weighing sensor to the Z-axis, h1 and h2 are the distances from the left and right weighing sensors to the X-axis, respectively; the X-axis is the direction of the perpendicular line from the vertex of the isosceles triangle to the base, the Y-axis is the direction of the base of the isosceles triangle, and the Z-axis is the direction of the vertical line passing through the midpoint of the base of the isosceles triangle; The position of the center of mass of the suspended loitering vehicle on the Y-axis is calculated using the following formula three: Where x' is the position of the center of mass in the X-axis direction when the tilt angle of the tilt sensor is the second tilt angle, a is the distance from the rotation point of the front hanger to the theoretical center of mass plane of the suspended loitering vehicle, and θ is the second tilt angle.

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