Device and method for testing wind resistance of seeker of unmanned aerial vehicle

Abstract

The invention discloses a testing device and a testing method for wind resistance testing of a seeker of an unmanned aerial vehicle. The testing device comprises a mounting frame, an upper supporting assembly, a lower supporting shaft, an azimuth axis system, a pitch axis system, an L-shaped switching rod, an inertial navigation system and a servo control system. According to the scheme, the mounting frame is fixed on the test vehicle, the test vehicle is started to run to the preset Mach number, the inertial navigation system can obtain attitude information of the unmanned aerial vehicle seeker in real time, and the force measurement assembly can obtain force data. By adopting the test device for the wind resistance test of the unmanned aerial vehicle seeker, the test vehicle can obtain the resistance data of the unmanned aerial vehicle seeker under the conditions of the preset attack angle and the preset Mach number in a common driving environment, the test conditions of the unmanned aerial vehicle seeker test are reduced, the test cost is reduced, and the test efficiency is improved. And the obtained working condition resistance data is more and continuous, so that guidance is provided for the design of a resistance reduction scheme of the seeker of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present application relates to the field of wind tunnel test measurement, and in particular to a test device and a test method for wind resistance testing of an unmanned aerial vehicle seeker. Background Art

[0002] The shape optimization technology of the UAV seeker has received more and more attention in the overall demonstration of the UAV plan. The UAV has a long range and a long working time. The UAV seeker is located at the head of the UAV. Its low wind resistance shape can effectively reduce the total drag of the UAV, thereby greatly improving the range of the UAV at the same working time. Therefore, the drag reduction technology of the UAV seeker is crucial in the overall demonstration of the UAV plan.

[0003] However, due to the high requirements for the test conditions of the unmanned aerial vehicle seeker, the high cost of ground wind tunnel testing, the difficulty in meeting the test conditions, the limited and discrete flight conditions (angle of attack, Mach number), these factors restrict the optimization of the shape scheme and the development of drag reduction technology of the unmanned aerial vehicle seeker. A test device with low test conditions and accurate test of the drag data of the unmanned aerial vehicle seeker is urgently needed. Summary of the invention

[0004] The embodiment of the present application provides a test device and a test method for wind resistance test of unmanned aerial vehicle seeker. It can solve the technical problems of high research cost, long test cycle, limited flight conditions and discrete states of the existing unmanned aerial vehicle seeker drag reduction technology. The technical solution is as follows:

[0005] On the one hand, a test device for wind resistance testing of an unmanned aerial vehicle seeker is provided, wherein the unmanned aerial vehicle seeker comprises a shell having an axial hole therein, the central axis of the axial hole passes through the center of gravity of the unmanned aerial vehicle seeker, and the test device comprises: a mounting frame having a lower fixing hole, a middle fixing hole and an upper fixing hole coaxially arranged from bottom to top; an upper support assembly passing through the upper fixing hole, comprising an outer cylinder and an inner shaft arranged in the outer cylinder, and the upper end of the inner shaft passes through the upper end of the outer cylinder, an upper force measuring assembly is arranged between the upper fixing hole and the outer cylinder; a lower support shaft passing through the lower fixing hole, and a lower force measuring assembly is arranged between the lower fixing hole and the lower support shaft; an azimuth axis system having a first mounting cylinder, an azimuth motor and a first output shaft, the central axis of the first mounting cylinder coincides with the central axis of the first output shaft; the first mounting cylinder is fixedly connected to the middle fixing hole, and the outer The lower end of the cylinder and the upper end of the lower support shaft are both fixedly connected to the first mounting cylinder, and the lower end of the inner shaft is connected to the first output shaft; a pitch axis system, comprising a second mounting cylinder, a pitch motor and a second output shaft, the central axis of the second mounting cylinder coincides with the central axis of the second output shaft; an L-shaped adapter rod, comprising a vertical rod portion and a horizontal rod portion, the free end of the vertical rod portion is fixedly connected to the upper end of the inner shaft, the free end of the horizontal rod portion is fixedly connected to the second mounting cylinder, and the central axis of the second mounting cylinder is in a horizontal state; an inertial navigation system, mounted on the second output shaft, the coordinate system of the inertial navigation system obeys the right-hand coordinate system principle, wherein the Z axis of the inertial navigation system coincides with the central axis of the second output shaft, and the X axis coincides with the central axis of the horizontal rod portion; and a servo control system, the azimuth motor, the pitch motor, the upper force measuring assembly and the lower force measuring assembly are all electrically connected to the control system.

[0006] Optionally, a bearing is provided between the inner shaft and the outer cylinder.

[0007] Optionally, the bearing is located at the upper end of the outer cylinder.

[0008] Optionally, the mounting frame is a spatial rectangular frame, which has a lower field frame, a middle field frame and an upper field frame arranged in sequence from bottom to top, and the lower field frame and the middle field frame are connected by a connecting rod, and the middle field frame and the upper field frame are connected by a connecting rod; the lower fixing hole is located at the center of the lower field frame; the middle fixing hole is located at the center of the lower field frame; and the upper fixing hole is located at the center of the lower field frame.

[0009] Optionally, the upper force measuring assembly includes four force sensors, which are evenly distributed circumferentially between the outer cylinder and the upper fixing hole, and one of the force sensors is in the same plane as the cross bar portion; the lower force measuring assembly includes four force sensors, which are evenly distributed circumferentially between the lower support shaft and the lower fixing hole, and one of the force sensors is in the same plane as the cross bar portion.

[0010] Optionally, the inertial navigation system includes a gyroscope and an accelerometer.

[0011] In a second aspect, a test method for a test device for testing wind resistance of an unmanned aerial vehicle seeker is provided, which is applied to the above-mentioned test device, and the test method comprises:

[0012] Step 1, installing the inertial navigation system to the first output shaft, and then installing the unmanned aerial vehicle seeker to the first output shaft;

[0013] Step 2, the mounting frame is fixed on the test vehicle, so that the pitch angle and azimuth angle of the unmanned aerial vehicle seeker are at zero position and electrically locked, and the upper force measuring assembly and the lower force measuring assembly are at zero position;

[0014] Step 3, start the test vehicle and accelerate to the set Mach number, the servo control system controls the pitch motor to keep the pitch angle of the unmanned aerial vehicle seeker near the set angle of attack, and the deviation between the actual angle of attack and the set angle of attack is ±0.1°;

[0015] The servo control system controls the azimuth motor so that the azimuth angle of the UAV seeker is kept near 0°, and the deviation between the actual azimuth angle and the azimuth angle of 0° is ±0.1°;

[0016] The inertial navigation system obtains the seeker's position, Mach number, azimuth, pitch angle, and acceleration in real time;

[0017] The force sensor collects upper force data of the upper force measuring component and lower force data of the lower force measuring component in real time;

[0018] Step 4, using data analysis software to unify the position, speed, azimuth, pitch angle, acceleration, upper force data and lower force data in time, selecting the position, speed, azimuth, pitch angle, acceleration, upper force data and lower force data of the corresponding time period that meets the requirements of the set angle of attack and the set Mach number, and fitting and calculating to obtain the first drag data of the unmanned aerial vehicle seeker;

[0019] Step 5, repeating steps 3 and 4 with the same set angle of attack and set Mach number conditions to obtain a second set of drag data of the unmanned aerial vehicle seeker;

[0020] Step 6, repeating steps 3 and 4 with the same set angle of attack and set Mach number conditions to obtain the third set of drag data of the seeker;

[0021] Step 7, performing mean and variance statistics on the first resistance data, the second resistance data, and the third resistance data.

[0022] Optionally, between step 2 and step 3, the method further includes a servo control system self-check, an inertial navigation system self-check, an upper force measuring assembly self-check and a lower force measuring assembly self-check.

[0023] Optionally, in step 4, the data analysis software is Matlab, Python or OriginLab.

[0024] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0025] A test device and test method for wind resistance test of unmanned aerial vehicle seeker, the test device comprises: a mounting frame, an upper support assembly, a lower support shaft, an azimuth axis system, a pitch axis system, an L-shaped adapter rod, an inertial navigation system and a servo control system. Through the above technical scheme, the mounting frame is fixed on the test vehicle, the test vehicle is started and driven to a preset Mach number, and the inertial navigation system can obtain the attitude information of the unmanned aerial vehicle seeker in real time, such as position, speed, azimuth, pitch angle and acceleration, and feed back the attitude information to the servo control system. The upper force measuring assembly can obtain the force data of the upper support assembly, and the lower force measuring assembly can obtain the force data of the lower support shaft, and feed back the force data information to the servo control system. During the driving process, the test vehicle will be affected by natural conditions, and the actual driving speed may not be the preset Mach number. The actual angle of attack of the unmanned aerial vehicle seeker may not be the preset angle of attack, and the actual azimuth may not be the preset azimuth. The servo control system can control the pitch motor in real time according to the acquired attitude information, so that the angle of attack of the unmanned aerial vehicle seeker is as close to the preset angle of attack as possible. The servo control system can also control the azimuth motor to make the azimuth of the unmanned aerial vehicle seeker as close to the preset azimuth as possible, for example, the azimuth is 0°. This reduces the requirements for the unmanned aerial vehicle seeker test. By using the test device for the wind resistance test of the unmanned aerial vehicle seeker of the present application, the test vehicle can also obtain the resistance data of the unmanned aerial vehicle seeker under the conditions of the preset angle of attack and the preset Mach number in the ordinary driving environment, which reduces the conditions for the unmanned aerial vehicle seeker test, thereby reducing the test cost, and the working condition resistance data obtained are more and continuous, thereby providing guidance for the design of the drag reduction scheme of the unmanned aerial vehicle seeker.

[0026] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 is a stereogram of an unmanned aerial vehicle seeker;

[0029] Figure 2 It is a partial cross-sectional view of a seeker head of an unmanned aerial vehicle;

[0030] Figure 3 is a three-dimensional schematic diagram of a test device for unmanned aerial vehicle seeker wind resistance testing provided by an embodiment of the present application;

[0031] Figure 4 It is a three-dimensional schematic diagram of the connection between the L-shaped adapter rod and the pitch axis system of the test device for the wind resistance test of the unmanned aerial vehicle seeker provided by the embodiment of the present application;

[0032] Figure 5 is a front cross-sectional view of a test device for unmanned aerial vehicle seeker wind resistance testing provided by an embodiment of the present application;

[0033] Figure 6 yes Figure 5 A partial enlarged view of the middle A;

[0034] Figure 7 yes Figure 5 A partial enlarged view of point B in the middle;

[0035] Figure 8 It is a three-dimensional schematic diagram of a mounting frame in a test device for wind resistance testing of a seeker of an unmanned aerial vehicle provided in an embodiment of the present application;

[0036] Fig. 9 It is a flow chart of a testing method of a testing device for unmanned aerial vehicle seeker wind resistance testing provided in an embodiment of the present application.

[0037] Description of Reference Numerals

[0038] 1-unmanned aerial vehicle seeker; 101-shell; 102-axis hole; 2-mounting frame; 201-lower fixing hole; 202-middle fixing hole; 203-upper fixing hole; 204-lower field frame; 205-middle field frame; 206-upper field frame; 3-upper support assembly; 301-outer cylinder; 302-inner axis; 4-upper force measuring assembly; 5-lower support shaft; 6-lower force measuring assembly; 7-azimuth axis system; 701-first mounting cylinder; 702-azimuth motor; 703-first output shaft; 8-pitch axis system; 801-second mounting cylinder; 802-pitch motor; 803-second output shaft; 9-L-shaped adapter rod; 901-vertical rod; 902-cross rod; 10-inertial navigation system; 11-bearing. DETAILED DESCRIPTION

[0039] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0040] In the present disclosure, unless otherwise stated, directional words such as "upper" and "lower" generally refer to the "upper" and "lower" of the corresponding parts in the use state relative to the direction of gravity, and "inside" and "outside" refer to the "inside" and "outside" relative to the corresponding parts' own contours. In addition, the terms "first", "second", etc. used in the present disclosure are to distinguish one element from another and do not have order and importance. In the following description, when referring to the drawings, unless otherwise explained, the same figure numbers in different drawings represent the same or similar elements.

[0041] The test of the unmanned aerial vehicle seeker has high environmental requirements. The use of special ground wind tunnel tests is expensive, the test conditions are difficult to meet, and the flight conditions (angle of attack, Mach number) are limited and discrete. These factors restrict the optimization of the shape scheme of the unmanned aerial vehicle seeker and the development of drag reduction technology. A test device with low condition requirements and accurate test of the drag data of the unmanned aerial vehicle seeker is urgently needed.

[0042] According to a first aspect of the present application, a test device for wind resistance testing of an unmanned aerial vehicle seeker 1 is provided, referring to Figure 1 and Figure 2 The unmanned aerial vehicle seeker 1 comprises a shell 101 , and an axial hole 102 is formed in the shell 101 . The central axis of the axial hole 102 passes through the center of gravity of the unmanned aerial vehicle seeker 1 .

[0043] refer to Figures 3 to 7 The test device includes: a mounting frame 2, an upper support assembly 3, a lower support shaft 5, an azimuth axis system 7, a pitch axis system 8, an L-shaped adapter rod 9, an inertial navigation system 10 and a servo control system.

[0044] Among them, reference Figure 2 The mounting frame 2 has a lower fixing hole 201, a middle fixing hole 202 and an upper fixing hole 203 which are coaxially arranged from bottom to top; the upper supporting assembly 3 passes through the upper fixing hole 203, comprises an outer cylinder 301 and an inner shaft 302 arranged in the outer cylinder 301, and the upper end of the inner shaft 302 passes through the upper end of the outer cylinder 301, and an upper force measuring assembly 4 is arranged between the upper fixing hole 203 and the outer cylinder 301; the lower supporting shaft 5 passes through the lower fixing hole 201, and a lower force measuring assembly 6 is arranged between the lower fixing hole 201 and the lower supporting shaft 5.

[0045] refer to Figures 5 to 7 The azimuth axis system 7 includes a first mounting cylinder 701, an azimuth motor 702 and a first output shaft 703. The central axis of the first mounting cylinder 701 coincides with the central axis of the first output shaft 703. The first mounting cylinder 701 is fixedly connected to the middle fixing hole 202, the lower end of the outer cylinder 301 and the upper end of the lower support shaft 5 are both fixedly connected to the first mounting cylinder 701, and the lower end of the inner shaft 302 is connected to the first output shaft 703.

[0046] refer to Figures 4 to 6 The pitch axis system 8 comprises a second mounting tube 801, a pitch motor 802, and a second output shaft 803. The central axis of the second mounting tube 801 coincides with the central axis of the second output shaft 803. The L-shaped adapter rod 9 comprises a vertical rod portion 901 and a horizontal rod portion 902. The free end of the vertical rod portion 901 is fixedly connected to the upper end of the inner shaft 302. The free end of the horizontal rod portion 902 is fixedly connected to the second mounting tube 801. The central axis of the second mounting tube 801 is in a horizontal state.

[0047] refer to Figure 4 The inertial navigation system 10 is mounted on the second output shaft 803, and the coordinate system of the inertial navigation system 10 complies with the right-hand coordinate system principle, wherein the Z axis of the inertial navigation system 10 coincides with the central axis of the second output shaft 803, and the X axis coincides with the central axis of the crossbar 902. A servo control system is also included, and the azimuth motor 702, the servo motor, the upper force measuring assembly 4 and the lower force measuring assembly 6 are all electrically connected to the control system.

[0048] Through the above technical solution, the mounting frame 2 is fixed on the test vehicle, the test vehicle is started and driven to a preset Mach number, and the inertial navigation system 10 can obtain the attitude information of the unmanned aerial vehicle seeker 1 in real time, such as position, speed, azimuth, pitch angle and acceleration, and feed back the attitude information to the servo control system. The upper force measuring component 4 can obtain the force data of the upper support component 3, and the lower force measuring component 6 can obtain the force data of the lower support shaft 5, and feed back the force data information to the servo control system. During the driving process, the test vehicle will be affected by natural conditions, the actual driving speed is not necessarily the preset Mach number, the actual angle of attack of the unmanned aerial vehicle seeker 1 is not necessarily the preset angle of attack, and the actual azimuth is not necessarily the preset azimuth. The servo control system can control the pitch motor 802 in real time according to the acquired attitude information, so that the angle of attack of the unmanned aerial vehicle seeker 1 is as close to the preset angle of attack as possible, and the servo control system can also control the azimuth motor 702, so that the azimuth of the unmanned aerial vehicle seeker 1 is as close to the preset azimuth as possible, for example, the azimuth is 0°. Thus, the requirements for the test of the unmanned aerial vehicle seeker 1 are reduced. By using the test device for the wind resistance test of the unmanned aerial vehicle seeker 1 of the present application, the test vehicle can also obtain the resistance data of the unmanned aerial vehicle seeker 1 under the conditions of a preset angle of attack and a preset Mach number in a normal driving environment, which reduces the conditions for the test of the unmanned aerial vehicle seeker 1, thereby reducing the test cost, and the obtained working condition resistance data is more and continuous, thereby providing guidance for the design of the drag reduction scheme of the unmanned aerial vehicle seeker 1.

[0049] In order to reduce the friction resistance between the outer cylinder 301 and the inner shaft 302, refer to Figure 5 and Figure 6 A bearing 11 is provided between the inner shaft 302 and the outer cylinder 301, and the bearing 11 is located at the upper end of the outer cylinder 301. In actual situations, a sleeve ring can be provided between the outer cylinder 301 and the inner shaft 302 according to actual needs, and the friction force can be reduced by applying grease on the sleeve ring, which is not limited in the present application.

[0050] According to the embodiments of the present application, reference Figure 3 and Figure 8 The mounting frame 2 is a spatial rectangular parallelepiped frame, which has a lower field frame 204, a middle field frame 205 and an upper field frame 206 arranged in sequence from bottom to top, and the lower field frame 204 and the middle field frame 205 are connected by a connecting rod, and the middle field frame 205 and the upper field frame 206 are connected by a connecting rod; the lower fixing hole 201 is located at the center of the lower field frame 204; the middle fixing hole 202 is located at the center of the lower field frame 204; and the upper fixing hole 203 is located at the center of the lower field frame 204.

[0051] With such a design, when the mounting frame 2 is mounted on the test vehicle and is traveling, the resistance encountered is small, thereby enabling the test vehicle to travel at a higher speed.

[0052] According to the embodiments of the present application, reference Figure 3 The upper force measuring assembly 4 includes four force sensors, which are evenly distributed circumferentially between the outer cylinder 301 and the upper fixing hole 203, and one of the force sensors is in the same plane as the cross bar 902; the four force sensors can measure the force conditions of the outer cylinder 301 in four directions, thereby providing a basis for calculating the resistance characteristics of the unmanned aerial vehicle seeker 1.

[0053] Similarly, the lower force measuring assembly 6 includes four force sensors, which are evenly distributed between the lower support shaft 5 and the lower fixing hole 201 in the circumferential direction, and one of the force sensors is in the same plane as the crossbar 902. The four force sensors can measure the force conditions of the outer cylinder 301 in four directions, thereby providing a basis for calculating the resistance characteristics of the unmanned aerial vehicle seeker 1.

[0054] According to an embodiment of the present application, the inertial navigation system 10 includes a gyroscope and an accelerometer.

[0055] According to the second aspect of the present application, reference Fig. 9 , a test method for a test device for unmanned aerial vehicle seeker wind resistance test is provided, which is applied to the above-mentioned test device, and the test method includes:

[0056] Step 1, installing the inertial navigation system 10 to the first output shaft 703, and then installing the unmanned aerial vehicle seeker 1 to the first output shaft 703;

[0057] Step 2, the mounting frame 2 is fixed on the test vehicle, so that the pitch angle and azimuth angle of the unmanned aerial vehicle seeker 1 are at zero position and electrically locked, and the upper force measuring component 4 and the lower force measuring component 6 are at zero position;

[0058] Step 3, start the test vehicle and accelerate to the set Mach number, the servo control system controls the pitch motor 802, so that the pitch angle of the unmanned aerial vehicle seeker 1 is kept near the set angle of attack, and the deviation between the actual angle of attack and the set angle of attack is ±0.1°;

[0059] The servo control system controls the azimuth motor 702 so that the azimuth angle of the UAV seeker 1 is maintained near 0°, and the deviation between the actual azimuth angle and the azimuth angle 0° is ±0.1°;

[0060] The inertial navigation system 10 acquires the position, Mach number, azimuth, pitch angle and acceleration of the seeker in real time;

[0061] The force sensor collects the upper force data of the upper force measuring component 4 and the lower force data of the lower force measuring component 6 in real time;

[0062] Step 4, using data analysis software to unify the position, speed, azimuth, pitch angle, acceleration, upper force data and lower force data in time, select the position, speed, azimuth, pitch angle, acceleration, upper force data and lower force data of the corresponding time period that meet the requirements of the set angle of attack and the set Mach number, and obtain the first drag data of the unmanned aerial vehicle seeker 1 by fitting calculation;

[0063] Step 5, repeating steps 3 and 4 with the same set angle of attack and set Mach number conditions to obtain a second set of drag data of the unmanned aerial vehicle seeker 1;

[0064] Step 6, repeating steps 3 and 4 with the same set angle of attack and set Mach number conditions to obtain the third set of drag data of the seeker;

[0065] Step 7, performing mean and variance statistics on the first resistance data, the second resistance data, and the third resistance data.

[0066] In actual situations, the more copies of resistance data there are, the more accurate it is, and the closer the resistance data obtained is to the true value. The experimenter can decide the number of tests based on actual conditions, and this application does not impose any restrictions on this.

[0067] Optionally, between step 2 and step 3, the process further includes self-checking of the servo control system, self-checking of the inertial navigation system 10, self-checking of the upper force measuring assembly 4 and self-checking of the lower force measuring assembly 6. The self-checking procedure can reduce the error of the test device itself.

[0068] Optionally, in step 4, the data analysis software may be Matlab, Python or OriginLab.

[0069] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0070] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0071] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A test device for testing wind resistance of an unmanned aerial vehicle seeker, the unmanned aerial vehicle seeker (1) comprising a housing (101), the housing (101) having an axial hole (102), the central axis of the axial hole (102) passing through the center of gravity of the unmanned aerial vehicle seeker (1), characterized in that: The testing device comprises: The mounting frame (2) has a lower fixing hole (201), a middle fixing hole (202) and an upper fixing hole (203) which are coaxially arranged from bottom to top; an upper support assembly (3) passing through the upper fixing hole (203), comprising an outer cylinder (301) and an inner shaft (302) arranged in the outer cylinder (301), wherein the upper end of the inner shaft (302) passes through the upper end of the outer cylinder (301), and an upper force measuring assembly (4) is arranged between the upper fixing hole (203) and the outer cylinder (301); A lower support shaft (5) passes through the lower fixing hole (201), and a lower force measuring assembly (6) is provided between the lower fixing hole (201) and the lower support shaft (5); The azimuth shaft system (7) comprises a first mounting tube (701), an azimuth motor (702) and a first output shaft (703), wherein the central axis of the first mounting tube (701) coincides with the central axis of the first output shaft (703); the first mounting tube (701) is fixedly connected to the middle fixing hole (202), the lower end of the outer tube (301) and the upper end of the lower support shaft (5) are both fixedly connected to the first mounting tube (701), and the lower end of the inner shaft (302) is connected to the first output shaft (703); A pitch axis system (8) comprising a second mounting tube (801), a pitch motor (802) and a second output shaft (803), wherein the central axis of the second mounting tube (801) coincides with the central axis of the second output shaft (803); The L-shaped transfer rod (9) comprises a vertical rod portion (901) and a horizontal rod portion (902), wherein the free end of the vertical rod portion (901) is fixedly connected to the upper end of the inner shaft (302), and the free end of the horizontal rod portion (902) is fixedly connected to the second mounting tube (801), and the central axis of the second mounting tube (801) is in a horizontal state; an inertial navigation system (10) mounted on the second output shaft (803), wherein the coordinate system of the inertial navigation system (10) complies with the right-hand coordinate system principle, wherein the Z axis of the inertial navigation system (10) coincides with the central axis of the second output shaft (803), and the X axis coincides with the central axis of the crossbar (902); And a servo control system, the azimuth motor (702), the pitch motor (802), the upper force measuring assembly (4) and the lower force measuring assembly (6) are all electrically connected to the control system.

2. The test device for unmanned aerial vehicle seeker wind resistance test according to claim 1, characterized in that: A bearing (11) is provided between the inner shaft (302) and the outer cylinder (301).

3. The test device for unmanned aerial vehicle seeker wind resistance test according to claim 2, characterized in that: The bearing (11) is located at the upper end of the outer cylinder (301).

4. The test device for unmanned aerial vehicle seeker wind resistance test according to claim 3, characterized in that: The mounting frame (2) is a spatial rectangular parallelepiped frame, which comprises a lower field frame (204), a middle field frame (205) and an upper field frame (206) which are arranged in sequence from bottom to top, and the lower field frame (204) and the middle field frame (205) are connected by a connecting rod, and the middle field frame (205) and the upper field frame (206) are connected by a connecting rod; The lower fixing hole (201) is located at the center of the lower field frame (204); The middle fixing hole (202) is located at the center of the lower field frame (204); The upper fixing hole (203) is located at the center of the lower field frame (204).

5. The test device for unmanned aerial vehicle seeker wind resistance test according to claim 1, characterized in that: The upper force measuring assembly (4) comprises four force measuring sensors, which are evenly distributed circumferentially between the outer cylinder (301) and the upper fixing hole (203), and one of the force measuring sensors is located in the same plane as the cross bar (902); The lower force measuring assembly (6) comprises four force measuring sensors, which are evenly distributed circumferentially between the lower support shaft (5) and the lower fixing hole (201), and one of the force measuring sensors is in the same plane as the cross bar (902).

6. The test device for unmanned aerial vehicle seeker wind resistance test according to claim 1, characterized in that: The inertial navigation system (10) comprises a gyroscope and an accelerometer.

7. A test method for a test device for wind resistance test of a seeker of an unmanned aerial vehicle, applied to the test device according to any one of claims 1 to 6, characterized in that: The test method includes: Step 1, installing the inertial navigation system to the first output shaft, and then installing the unmanned aerial vehicle seeker to the first output shaft; Step 2, the mounting frame is fixed on the test vehicle, so that the pitch angle and azimuth angle of the unmanned aerial vehicle seeker are at zero position and electrically locked, and the upper force measuring assembly and the lower force measuring assembly are at zero position; Step 3, start the test vehicle and accelerate to the set Mach number, the servo control system controls the pitch motor to keep the pitch angle of the unmanned aerial vehicle seeker near the set angle of attack, and the deviation between the actual angle of attack and the set angle of attack is ±0.1°; The servo control system controls the azimuth motor so that the azimuth angle of the UAV seeker is kept near 0°, and the deviation between the actual azimuth angle and the azimuth angle of 0° is ±0.1°; The inertial navigation system obtains the seeker's position, Mach number, azimuth, pitch angle, and acceleration in real time; The force sensor collects upper force data of the upper force measuring component and lower force data of the lower force measuring component in real time; Step 4, using data analysis software to unify the position, speed, azimuth, pitch angle, acceleration, upper force data and lower force data in time, selecting the position, speed, azimuth, pitch angle, acceleration, upper force data and lower force data of the corresponding time period that meets the requirements of the set angle of attack and the set Mach number, and fitting and calculating to obtain the first drag data of the unmanned aerial vehicle seeker; Step 5, repeating steps 3 and 4 with the same set angle of attack and set Mach number conditions to obtain a second set of drag data of the unmanned aerial vehicle seeker; Step 6, repeating steps 3 and 4 with the same set angle of attack and set Mach number conditions to obtain the third set of drag data of the seeker; Step 7, performing mean and variance statistics on the first resistance data, the second resistance data, and the third resistance data.

8. The testing method of the testing device for the wind resistance test of the unmanned aerial vehicle seeker according to claim 7, characterized in that: Between step 2 and step 3, the process also includes a servo control system self-check, an inertial navigation system self-check, an upper force measuring assembly self-check and a lower force measuring assembly self-check.

9. The testing method of the testing device for the wind resistance test of the unmanned aerial vehicle seeker according to claim 7, characterized in that: In step 4, the data analysis software is Matlab, Python or OriginLab.

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