Unmanned helicopter hovering state snow blind test device and method based on fixed platform

Abstract

The invention provides an unmanned helicopter hovering state snow blind test device and method based on a fixed platform, and belongs to the field of helicopter flight tests. The invention aims to solve the problem of blank of related research in the technical fields of helicopter snow field flight and snow blindness in China. The method comprises the following steps: S1, selecting a test environment and a test site meeting test conditions; s2, determining a test working condition; s3, test equipment is installed on the test site; s4, arranging a wind-shield wall outside the test field; s5, measuring physical characteristics of accumulated snow on the test site; s6, carrying out a test according to the determined test working condition; s7, ending the test; s8, measuring physical characteristics of accumulated snow in the test site after the test; s9, measuring the physical characteristics of the collected snow particles; s10, arranging the equipment; and S11, analyzing the recorded test data. According to the invention, the influence characteristics of the helicopter in snowfield flight and snowblindness can be deeply researched, and the blank of related research in the technical field of helicopter snowfield flight and snowblindness in China is filled.

Description

Technical Field

[0001] The invention relates to flight test technology, in particular to a snow blindness test device and method for an unmanned helicopter in a hovering state based on a fixed platform, and belongs to the field of helicopter flight test. Background Art

[0002] With the continuous development of the aviation industry, helicopters have been widely used in many special scenarios due to their unique flight performance, including polar regions and other snow-covered areas. The flight safety of helicopters in polar regions or other snow-covered scenarios is significantly affected, especially when the helicopter takes off, lands, or hovers close to the ground. The strong rotor downwash will lift up the snow particles on the ground to form snow clouds, which will cause helicopter snow blindness. Once snow blindness occurs, the most direct consequence is that the visibility outside the cockpit is significantly reduced, and the pilot's vision is severely blocked, causing them to easily lose their judgment of flight attitude, ground position and obstacles when taking off, landing or hovering, which greatly affects the safety and accuracy of the flight. Therefore, a comprehensive assessment of the distribution range of snow clouds and helicopter performance under helicopter flight conditions in snowy areas is an important issue to ensure flight safety.

[0003] In view of the significant impact of the above-mentioned helicopter snow-covered flight and snow blindness phenomenon on flight safety, in-depth research on its impact characteristics is of great significance that cannot be ignored. Summary of the invention

[0004] A brief overview of the present invention is provided below in order to provide a basic understanding of certain aspects of the present invention. It should be understood that this overview is not an exhaustive overview of the present invention. It is not intended to identify key or important parts of the present invention, nor is it intended to limit the scope of the present invention. Its purpose is merely to present certain concepts in a simplified form as a prelude to a more detailed description discussed later.

[0005] In view of this, in order to solve the problem of the current domestic research gap in the field of helicopter snow flight and snow blindness technology, the present invention provides a snow blindness test device and method for an unmanned helicopter in a hovering state based on a fixed platform.

[0006] Solution 1: A snow blindness test device for an unmanned helicopter in a hovering state based on a fixed platform, comprising an unmanned helicopter, a cylindrical support rod, a sensor connection mechanism, a six-dimensional force sensor, and a gimbal camera;

[0007] The cylindrical support rod is fixed on the ground, and the top is connected to the fixed end of the six-dimensional force sensor;

[0008] A pan-tilt camera is installed at the front end of the unmanned helicopter, and the unmanned helicopter is fixedly connected to the floating end of the six-dimensional force sensor through a sensor connecting mechanism.

[0009] Furthermore, the cylindrical support rod is a telescopic structure.

[0010] Furthermore, a vibration sensor is installed on the unmanned helicopter.

[0011] Solution 2: A snow blindness test method for an unmanned helicopter in hovering state based on a fixed platform, specifically comprising the following steps:

[0012] S1. Select a test environment and test site that meets the test conditions:

[0013] S2. Install the test device in a flat outdoor area, adjust the height of the cylindrical support rod according to the test environment and test objectives, determine the test conditions, and judge whether the existing snow on the test site meets the test requirements of being blown up by the rotor downwash to form a snow blindness scenario. If the snow state meets the test requirements, proceed directly to step S3; if the existing natural snow does not meet the test requirements, measures need to be taken to make the snow on the ground meet the test requirements;

[0014] S3. After the test device is installed in the test site, install the equipment used for the test;

[0015] S4. Set up a multi-sided windbreak wall on the outer circle of the test site;

[0016] S5. Measure the physical properties of snow at the test site:

[0017] S6. Carry out the test according to the determined test conditions;

[0018] S7. After the single vehicle test, ensure that the unmanned helicopter stops power output and check the status of the unmanned helicopter:

[0019] S8. Measure the snow parameters at the test site again and record the impact of the unmanned helicopter flight on the snow changes;

[0020] S9. measuring the total mass of snow particles in the snow particle collector, and measuring the shape and particle size distribution of the snow particles;

[0021] S10. Confirm whether there are any remaining tests on the day; if there are any remaining tests on the day, proceed to S5; if the full-day test is over, all the measuring equipment used in the test will be put away and stored indoors, and the unmanned helicopter will be treated for corrosion;

[0022] S11. Analyze the recorded data and evaluate the impact of meteorological environment, ground snow parameters, and unmanned helicopter on the severity of snow blindness and the aerodynamic performance of the unmanned helicopter.

[0023] Furthermore, the test environment described in S2 includes both snowing and non-snowing environments; the test conditions include the rotation speed, total distance or tension, support height and hovering time of the unmanned helicopter.

[0024] Furthermore, when the existing natural snow in the test site described in S2 cannot meet the requirements of the snow blindness test, the specific measures to be taken are as follows:

[0025] Physical method to loosen the snow layer: use mechanical equipment to directly act on the snow layer to loosen the snow layer by physical means; or, artificial snowmaking: use a snowmaking machine to artificially make snow, and then use a snowplow or snow shovel equipment to evenly distribute the snow generated by the snowmaking machine on the test site, thereby forming the loose snow conditions required for the test.

[0026] Furthermore, the equipment used in the test in S3 includes a mobile weather station, a snow container, an anemometer, a snow particle collector, and a camera; the mobile weather station and the snow container are located outside the rotor flow field;

[0027] When conducting the test, the ground projection of the center of the unmanned helicopter's main rotor hub is used as the reference circle center, and locations are selected within twice the rotor radius to arrange the anemometer and snow collector. The camera must be set up on the ground in the test site so that the horizontal distance of the camera's imaging field is not less than six times the rotor radius.

[0028] Furthermore, the method for measuring the physical properties of snow on the test site in S5 specifically includes:

[0029] Snow temperature measurement method: Use a probe-type temperature sensor to insert into the snow test area to obtain snow temperature data at different depths;

[0030] Snow depth and density measurement method: Use a transparent snow density sampling measuring device to insert vertically downward from the top into the snow test area until it touches the ground. At this time, the measuring device has completed snow sampling. Seal the bottom of the measuring device with a cover plate, remove the snow, read the snow depth through the scale line on the transparent measuring device, and measure the weight of the snow in the container at the same time to get the overall density of the snow.

[0031] Snow particle shape and particle size measurement method: Use an electron microscope with a scale to measure the shape and particle size of snow particles in the snow test area. The specific steps are: place the electron microscope outdoors to keep the snow particles in their original shape, turn on the power of the equipment, turn on the CCD camera and display screen, use the snow sample collection board to sample the snow particles to be measured and place them in the electron microscope observation area, adjust the LED source brightness, adjust the lens position so that the snow crystal image in the image on the display screen is clear, collect and measure multiple sets of image information, and analyze the snow particle shape and particle size data.

[0032] Furthermore, the specific steps of carrying out the test according to the determined test conditions in S6 are as follows:

[0033] S61. Adjust the cylindrical support rod to the height required by the test condition and then lock it;

[0034] S62, control the rotor speed of the unmanned helicopter to 200rpm and preheat for 1 minute, and check whether the communication connection between the unmanned helicopter and the ground station is normal to ensure that the control and data transmission are correct;

[0035] S63, the unmanned helicopter stops running and collects the zero point of the six-dimensional force sensor;

[0036] S64. Control the rotor speed and collective pitch of the unmanned helicopter to the specified values, and then continuously collect aerodynamic data, and simultaneously collect the gimbal camera data, meteorological data, rotor downwash air flow anemometer data and ground camera data of the unmanned helicopter; continuously monitor the vibration of the test device, and if the vibration level of the test device is observed to be too large, control the unmanned helicopter to stop running.

[0037] Furthermore, the unmanned helicopter needs to be equipped with a ground station and flight data collection, transmission and recording functions to achieve real-time monitoring of the flight status.

[0038] Furthermore, the unmanned helicopter must be able to transmit the main rotor speed, collective pitch, and the position, altitude, horizontal speed, and vertical speed of the unmanned helicopter through a flight data recording system, wherein the position, altitude, and attitude of the unmanned helicopter fixed on the cylindrical support rod remain fixed, and the horizontal speed and vertical speed are both maintained at zero; at the same time, the speed and collective pitch of the unmanned helicopter can be freely adjusted within the performance range to facilitate testing under different working conditions.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. The present invention can conduct in-depth research on the characteristics of helicopter flying in snowy areas and the influence of snow blindness, filling the gap in the relevant research in the field of helicopter flying in snowy areas and snow blindness technology in China;

[0041] 2. The present invention installs the unmanned helicopter on an outdoor field covered with snow through a fixed platform, locks the six degrees of freedom of the unmanned helicopter, and conducts a hovering test to simulate the real helicopter snow blindness phenomenon, record and analyze relevant measurement system data, thereby evaluating the influence of the unmanned helicopter under different test conditions on the severity of snow blindness and the aerodynamic performance of the unmanned helicopter, providing a reliable and realistic basis for in-depth research on the snow blindness phenomenon. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0043] Figure 1 This is a flow chart of a snow blindness test method for an unmanned helicopter in a hovering state based on a fixed platform;

[0044] Figure 2 This is a schematic diagram of the test device installation;

[0045] Figure 3 This is a detailed diagram of the unmanned helicopter fixture;

[0046] Figure 4 Aerial view of the layout of the unmanned helicopter and measurement equipment at the test site.

[0047] In the figure: 1-unmanned helicopter, 2-cylindrical support rod, 3-test site, 4-sensor connection mechanism, 5-six-dimensional force sensor, 6-pan-tilt camera, 7-mobile weather station, 8-snow container, 9-anemometer, 10-snow particle collector, 11-camera, 12-polygonal windbreak wall. DETAILED DESCRIPTION

[0048] In order to make the technical solutions and advantages of the embodiments of the present invention more clearly understood, the exemplary embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0049] Example 1, reference Figure 2-3 The present embodiment is described as follows: a snow blindness test device for an unmanned helicopter in a hovering state based on a fixed platform comprises an unmanned helicopter 1, a cylindrical support rod 2, a sensor connection mechanism 4, a six-dimensional force sensor 5, and a gimbal camera 6;

[0050] The cylindrical support rod 2 is fixed on the ground, and the top is connected to the fixed end of the six-dimensional force sensor 5;

[0051] A pan-tilt camera 6 is installed at the front end of the unmanned helicopter 1 , and the unmanned helicopter 1 is fixedly connected to the floating end of the six-dimensional force sensor 5 through a sensor connection mechanism 4 .

[0052] Furthermore, the cylindrical support rod 2 is a telescopic structure.

[0053] Furthermore, a vibration sensor is installed on the unmanned helicopter 1.

[0054] Example 2, reference Figure 1-4 The present embodiment is described as a snow blindness test method for an unmanned helicopter in a hovering state based on a fixed platform, which specifically includes the following steps:

[0055] S1. Select a test environment and test site that meets the test conditions 3:

[0056] A cold outdoor natural environment is selected as the test environment; according to the size of the unmanned helicopter 1, the test site 3 needs to have enough space;

[0057] S2. Install the test device in a flat outdoor venue, adjust the height of the cylindrical support rod 2 according to the test environment and test objectives, determine the test conditions, and judge whether the existing snow on the test site 3 meets the test requirements of being blown up by the rotor downwash airflow to form a snow blindness scenario. If the snow state meets the test requirements, proceed directly to step S3; if the existing natural snow does not meet the test requirements, measures need to be taken to make the snow on the ground meet the test requirements;

[0058] In non-snowy weather, the height of the cylindrical support rod 2 needs to be lowered so that the rotor downwash airflow can blow up the snow on the ground; in snowy weather, the height of the cylindrical support rod 2 is adjusted according to the test objectives, and high-altitude tests without ground effect and near-ground tests with ground effect can be carried out;

[0059] S3. After the test device is installed in the test site 3, install the equipment used for the test;

[0060] S4. A multi-sided windshield wall 12 is set at the outer ring of the test site 3;

[0061] S5. Measure the physical properties of snow at test site 3:

[0062] S6. Carry out the test according to the determined test conditions;

[0063] S7. After the single vehicle test, ensure that the unmanned helicopter 1 stops power output, check the status of the unmanned helicopter 1, and clear the snow on the aircraft in time to prevent snow particles from freezing on important components:

[0064] S8. Measure the snow parameters at the test site 3 again and record the impact of the flight of the unmanned helicopter 1 on the change of snow accumulation;

[0065] S9. Measuring the total mass of snow particles in the snow particle collector 10, and measuring the shape and particle size distribution of the snow particles;

[0066] S10. Confirm whether there are any remaining tests on the day; if there are any remaining tests on the day, proceed to S5; if the full-day test is over, all the measuring equipment used in the test will be put away and stored indoors, and the unmanned helicopter 1 will be treated with anti-corrosion to prevent wet snow and frost from causing rust or corrosion on the surface;

[0067] S11. Analyze the recorded data and evaluate the impact of meteorological environment, ground snow parameters, and unmanned helicopter 1 on the severity of snow blindness and the aerodynamic performance of unmanned helicopter 1.

[0068] Furthermore, the test environment described in S2 includes two environments: snowing and non-snowing; and the test conditions include the rotation speed, total distance or tension, support height and hovering time of the unmanned helicopter 1.

[0069] Furthermore, when the existing natural snow in the test site 3 described in S2 cannot meet the requirements of the snow blindness test, the specific measures to be taken are as follows:

[0070] Physical method to loosen the snow layer: use mechanical equipment to directly act on the snow layer to loosen the snow layer by physical means; or, artificial snowmaking: use a snowmaking machine to artificially make snow, and then use a snowplow or snow shovel equipment to evenly distribute the snow generated by the snowmaking machine on the test site 3, thereby forming the loose snow conditions required for the test.

[0071] Furthermore, the equipment used in the test in S3 includes a mobile weather station 7, a snow container 8, an anemometer 9, a snow particle collector 10, and a camera 11; the mobile weather station 7 and the snow container 8 are located outside the rotor flow field;

[0072] When conducting the test, the ground projection of the center of the main rotor hub of the unmanned helicopter 1 is used as the reference circle center, and a position is selected within the range of twice the rotor radius to arrange the anemometer 9 and the snow particle collector 10. The position where the camera 11 is set up on the ground of the test site 3 must make the horizontal distance of the imaging field of the camera 11 not less than six times the rotor radius.

[0073] Furthermore, the method for measuring the physical properties of snow at the test site 3 in S5 specifically includes:

[0074] Snow temperature measurement method: Use a probe-type temperature sensor to insert into the snow test area to obtain snow temperature data at different depths;

[0075] Snow depth and density measurement method: Use a transparent snow density sampling measuring device to insert vertically downward from the top into the snow test area until it touches the ground. At this time, the measuring device has completed snow sampling. Seal the bottom of the measuring device with a cover plate, remove the snow, read the snow depth through the scale line on the transparent measuring device, and measure the weight of the snow in the container at the same time to get the overall density of the snow.

[0076] Snow particle shape and particle size measurement method: Use an electron microscope with a scale to measure the shape and particle size of snow particles in the snow test area. The specific steps are: place the electron microscope outdoors to keep the snow particles in their original shape, turn on the power of the equipment, turn on the CCD camera and display screen, use the snow sample collection board to sample the snow particles to be measured and place them in the electron microscope observation area, adjust the LED source brightness, adjust the lens position so that the snow crystal image in the image on the display screen is clear, collect and measure multiple sets of image information, and analyze the snow particle shape and particle size data.

[0077] Furthermore, the specific steps of carrying out the test according to the determined test conditions in S6 are as follows:

[0078] S61, adjusting the cylindrical support rod 2 to the height required by the test condition and then locking it;

[0079] S62, control the rotor speed of the unmanned helicopter 1 to 200 rpm and preheat for 1 minute, and at the same time check whether the communication connection between the unmanned helicopter 1 and the ground station is normal to ensure that the control and data transmission are correct;

[0080] S63, the unmanned helicopter 1 stops running, and collects the zero point of the six-dimensional force sensor 5;

[0081] S64, controlling the rotor speed and collective pitch of the unmanned helicopter 1 to the specified values, and then continuously collecting aerodynamic data, and simultaneously collecting data from the gimbal camera 2 on the unmanned helicopter 1, meteorological data, rotor downwash airflow anemometer 4 data and ground camera 11 data; continuously monitoring the vibration of the test device, and if it is observed that the vibration level of the test device is too large, controlling the unmanned helicopter 1 to stop operating.

[0082] Furthermore, the unmanned helicopter 1 needs to be equipped with a ground station and flight data collection, transmission and recording functions to achieve real-time monitoring of the flight status.

[0083] Furthermore, the unmanned helicopter 1 needs to be able to transmit the main rotor speed, collective pitch, and the position, altitude, horizontal speed, and vertical speed of the unmanned helicopter 1 through a flight data recording system, wherein the position, altitude, and posture of the unmanned helicopter 1 fixed on the cylindrical support rod 2 remain fixed, and the horizontal speed and vertical speed are both maintained at zero; at the same time, the speed and collective pitch of the unmanned helicopter 1 can be freely adjusted within the performance range to facilitate testing under different working conditions.

[0084] Through the present invention, the influence characteristics of helicopter flying in snowy areas and snow blindness can be studied in depth, filling the gap in the relevant research fields of helicopter flying in snowy areas and snow blindness technology in China;

[0085] Through the present invention, the unmanned helicopter is installed on an outdoor field covered with snow through a fixed platform, the six degrees of freedom of the unmanned helicopter are locked, and a hovering test is carried out to simulate the real helicopter snow blindness phenomenon, record and analyze the relevant measurement system data, so as to evaluate the influence of the unmanned helicopter under different test conditions on the severity of snow blindness and the aerodynamic performance of the unmanned helicopter, which provides a reliable practical basis for in-depth research on the snow blindness phenomenon.

[0086] Although the present invention has been described according to a limited number of embodiments, it will be apparent to those skilled in the art, with the benefit of the above description, that other embodiments may be envisioned within the scope of the invention thus described. In addition, it should be noted that the language used in this specification is selected primarily for readability and teaching purposes, rather than for explaining or defining the subject matter of the present invention. Therefore, many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the appended claims. The disclosure of the present invention is illustrative, not restrictive, with respect to the scope of the present invention, which is defined by the appended claims.

Claims

1. A snow blindness test device for an unmanned helicopter in hovering state based on a fixed platform, characterized in that: It comprises an unmanned helicopter (1), a cylindrical support rod (2), a sensor connection mechanism (4), a six-dimensional force sensor (5), and a gimbal camera (6); The cylindrical support rod (2) is fixed on the ground, and the top is connected to the fixed end of the six-dimensional force sensor (5); A pan-tilt camera (6) is installed at the front end of the unmanned helicopter (1), and the unmanned helicopter (1) is fixedly connected to the floating end of the six-dimensional force sensor (5) via a sensor connection mechanism (4).

2. According to claim 1, a snow blindness test device for unmanned helicopter hovering state based on a fixed platform is characterized in that: The cylindrical support rod (2) is a telescopic structure.

3. According to claim 1, a snow blindness test device for unmanned helicopter hovering state based on a fixed platform is characterized in that: The unmanned helicopter (1) is equipped with a vibration sensor.

4. A snow blindness test method for an unmanned helicopter in hovering state based on a fixed platform, characterized in that: The specific steps include: S1. Select a test environment and test site that meets the test conditions (3): S2. Install the test device in a flat outdoor area, adjust the height of the cylindrical support rod (2) according to the test environment and test objectives, determine the test conditions, and judge whether the existing snow on the test site (3) meets the test requirements of being blown up by the rotor downwash to form a snow blindness scenario. If the snow state meets the test requirements, proceed directly to step S3; if the existing natural snow does not meet the test requirements, measures need to be taken to make the snow on the ground meet the test requirements; S3. After the test device is installed at the test site (3), install the equipment used for the test; S4. A multi-sided windshield wall (12) is provided on the outer ring of the test site (3); S5. Measure the physical properties of snow at the test site (3): S6. Carry out the test according to the determined test conditions; S7. After the single vehicle test is completed, ensure that the unmanned helicopter (1) stops power output and check the status of the unmanned helicopter (1): S8. Measure the various parameters of snow accumulation at the test site (3) again, and record the impact of the flight of the unmanned helicopter (1) on the change of snow accumulation; S9. Measuring the total mass of snow particles in the snow particle collector (10), and measuring the shape and particle size distribution of the snow particles; S10. Confirm whether there are any remaining tests for the day; if there are any remaining tests for the day, proceed to S5; if the full-day test is completed, all the measuring equipment used for the test will be put away and stored indoors, and the unmanned helicopter (1) will be treated for corrosion; S11. Analyze the recorded data and evaluate the impact of meteorological environment, ground snow parameters, and the unmanned helicopter (1) on the severity of snow blindness and the aerodynamic performance of the unmanned helicopter (1).

5. The snow blindness test method for an unmanned helicopter in a hovering state based on a fixed platform according to claim 4, characterized in that: The test environment in S2 includes two environments: snowfall and non-snowfall; and the test conditions include the rotation speed, total distance or pulling force, support height and hovering time of the unmanned helicopter (1).

6. The snow blindness test method for an unmanned helicopter in a hovering state based on a fixed platform according to claim 5, characterized in that: When the existing natural snow at the test site (3) described in S2 cannot meet the requirements of the snow blindness test, the following measures shall be taken: Physical method to loosen the snow layer: Use mechanical equipment to directly act on the snow layer to loosen the snow layer by physical means; or, artificial snowmaking: Use a snowmaking machine to make snow artificially, and then use a snowplow or snow shovel equipment to evenly distribute the snow generated by the snowmaking machine on the test site (3), thereby forming the loose snow conditions required for the test.

7. The snow blindness test method for an unmanned helicopter in a hovering state based on a fixed platform according to claim 4, characterized in that: The equipment used in the test of S3 includes a mobile weather station (7), a snow container (8), an anemometer (9), a snow particle collector (10), and a camera (11); the mobile weather station (7) and the snow container (8) are located outside the rotor flow field; When conducting the test, the ground projection of the center of the main rotor hub of the unmanned helicopter (1) is used as the reference circle center, and a position is selected within the range of two times the rotor radius to arrange the anemometer (9) and the snow particle collector (10). The position where the camera (11) is set up on the ground of the test site (3) must ensure that the horizontal distance of the imaging field of the camera (11) is not less than six times the rotor radius.

8. The snow blindness test method for an unmanned helicopter in a hovering state based on a fixed platform according to claim 4, characterized in that: The method for measuring the physical properties of snow at the test site (3) described in S5 specifically includes: Snow temperature measurement method: Use a probe-type temperature sensor to insert into the snow test area to obtain snow temperature data at different depths; Snow depth and density measurement method: Use a transparent snow density sampling measuring device to insert vertically downward from the top into the snow test area until it touches the ground. At this time, the measuring device has completed snow sampling. Seal the bottom of the measuring device with a cover plate, remove the snow, read the snow depth through the scale line on the transparent measuring device, and measure the weight of the snow in the container at the same time to get the overall density of the snow. Snow particle shape and particle size measurement method: Use an electron microscope with a scale to measure the shape and particle size of snow particles in the snow test area. The specific steps are: place the electron microscope outdoors to keep the snow particles in their original shape, turn on the power of the equipment, turn on the CCD camera and display screen, use the snow sample collection board to sample the snow particles to be measured and place them in the electron microscope observation area, adjust the LED source brightness, adjust the lens position so that the snow crystal image in the image on the display screen is clear, collect and measure multiple sets of image information, and analyze the snow particle shape and particle size data.

9. The snow blindness test method for an unmanned helicopter in a hovering state based on a fixed platform according to claim 4, characterized in that: S6 describes the test to be carried out according to the determined test conditions, and the specific steps are as follows: S61, adjusting the cylindrical support rod (2) to the height required by the test condition and then locking it; S62, controlling the rotor speed of the unmanned helicopter (1) to 200 rpm and preheating for 1 minute, and at the same time checking whether the communication connection between the unmanned helicopter (1) and the ground station is normal to ensure that the control and data transmission are correct; S63, the unmanned helicopter (1) stops running, and collects the zero point of the six-dimensional force sensor (5); S64, controlling the rotor speed and collective pitch of the unmanned helicopter (1) to specified values, and then continuously collecting aerodynamic data, and simultaneously collecting data from the gimbal camera 2 on the unmanned helicopter (1), meteorological data, rotor downwash air flow anemometer 4 data, and ground camera (11) data; continuously monitoring the vibration of the test device, and if it is observed that the vibration level of the test device is too large, controlling the unmanned helicopter (1) to stop operating.

10. The snow blindness test method for an unmanned helicopter in a hovering state based on a fixed platform according to claim 4, characterized in that: The unmanned helicopter (1) needs to be equipped with a ground station and flight data collection, transmission and recording functions to achieve real-time monitoring of the flight status.

11. The snow blindness test method for an unmanned helicopter in a hovering state based on a fixed platform according to claim 10, characterized in that: The unmanned helicopter (1) must be able to transmit the main rotor speed, collective pitch, and the position, altitude, horizontal speed, and vertical speed of the unmanned helicopter (1) through a flight data recording system, wherein the position, altitude, and posture of the unmanned helicopter (1) fixed on the cylindrical support rod (2) remain fixed, and the horizontal speed and vertical speed are both kept at zero; at the same time, the speed and collective pitch of the unmanned helicopter (1) can be freely adjusted within the performance range, so as to carry out tests under different working conditions.

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