Air-water cross-medium aircraft test platform and method based on multi-fan matrix

Abstract

The invention relates to the technical field of unmanned aerial vehicle testing, in particular to an air-water cross-medium aircraft testing platform and method based on a multi-fan matrix, and the testing platform comprises a control module, a testing module and a data acquisition module. The test module comprises a pool, and a wave making device and a fan matrix which are respectively arranged at two ends of the pool, the data acquisition module is configured to acquire data of the test module, capture an aircraft and obtain an aircraft attitude image, and the control module comprises a test mode generation module; the test mode generation module generates multiple preset test schemes in advance according to the wind field data of the fan matrix and the water body change data of the wave making equipment, the test is applied to the test platform, the control module is connected with an energy sensor on the aircraft, and the test schemes are dynamically output according to the obtained residual energy of the aircraft. The test platform can simultaneously simulate various water surface conditions and a programmable wind field in a laboratory or an indoor environment so as to support systematic research and development and algorithm verification of a cross-medium aircraft.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle testing, and particularly to an air-water trans-medium aircraft testing platform and method based on a multi-fan matrix. Background Art

[0002] With the development of unmanned aerial vehicle technology, amphibious aircraft with trans-medium capabilities, such as being able to navigate underwater and leap out of the water to fly in the air, have received increasing research and application attention; however, most existing testing platforms are only for a single environment, such as a wind tunnel in pure air or a water tank in a pure water environment, and it is difficult to accurately simulate the real environmental disturbances during the water-air transition in the same scenario, such as water surface waves, wind waves, splashes, etc., thus unable to systematically test and optimize the attitude control performance of the takeoff, leap out, and entry of trans-medium unmanned aerial vehicles. Summary of the Invention

[0003] The purpose of the present invention is to provide an air-water trans-medium aircraft testing platform and method based on a multi-fan matrix, which can simulate various water surface conditions and a programmable wind field in a laboratory or indoor environment to support the systematic research and development and algorithm verification of trans-medium aircraft.

[0004] To achieve the above purpose, the present invention provides the following technical solutions:

[0005] An air-water trans-medium aircraft testing platform based on a multi-fan matrix includes a control module, a testing module, and a data acquisition module; the testing module includes a water tank and a fixed frame installed at one end of the water tank, a wave-making device is installed at the other end of the water tank, and a fan matrix is installed on the fixed frame; the data acquisition module includes a sensor monitoring unit and an attitude monitoring unit. The sensor monitoring unit monitors the water body change data of the water tank and the wind field data of the fan matrix, and the attitude monitoring unit captures the aircraft through an infrared capture system and obtains the aircraft attitude image. The data acquisition module transmits the collected water body change data, wind field data, and aircraft attitude data of the testing module to the control module.

[0006] The control module is connected to an energy sensor installed on the aircraft. The control module combines the water body change data and the wind field data, and dynamically outputs a test plan according to the aircraft attitude data obtained by the infrared capture system and the remaining energy information of the aircraft obtained by the energy sensor.

[0007] Preferably, a transparent observation window is opened on the side wall of the water tank, a temperature control unit is installed in the water tank, a plurality of laser rangefinders are arranged at intervals along the length direction of the water tank, a water flow pump is arranged on the side wall of the water tank, and a camera and a laser scanner are arranged above the water tank.

[0008] Preferably, the wave-making device includes hydraulic cylinders. The control module is connected to the hydraulic cylinders. There are multiple hydraulic cylinders, which are arranged at intervals along the side wall of the pool away from the fixed frame. The telescopic ends of the multiple hydraulic cylinders are hinged with flap boards, and the lower parts of the flap boards extend into the water body.

[0009] Preferably, the fan matrix includes fans arranged in a rectangular array, and the control module performs single-point control on each fan.

[0010] Preferably, the sensor monitoring unit includes multiple ultrasonic anemometers, which are fixedly installed at the same distance intervals above the pool. The attitude monitoring unit also includes multiple visual marking points arranged on the aircraft. The infrared capture system includes an infrared camera and an infrared light source. The infrared light source emits infrared light to irradiate the visual marking points on the aircraft, and the infrared camera captures the infrared light reflected by the marking points.

[0011] Preferably, a pressure sensor, an accelerometer, a torque sensor and a speedometer are respectively installed on the aircraft, and the control module is connected to the pressure sensor, accelerometer, torque sensor and speedometer on the aircraft.

[0012] Preferably, it further includes a display module. The control module analyzes the obtained water body change data, wind field data and aircraft attitude data, and displays them through the display module; the control module also includes a test mode generation module, and the test mode generation module uses a combination algorithm to pre-combine the water body change data and wind field data to generate multiple preset test schemes, and stores them as a preset test scheme set.

[0013] A testing method for an air-water trans-medium aircraft based on a multi-fan matrix is applied to the above-mentioned testing platform for an air-water trans-medium aircraft based on a multi-fan matrix, and includes the following steps:

[0014] S1: The control module outputs the current test scheme, converts the current test scheme into a test instruction and transmits it to the test module, and the aircraft conducts a flight test;

[0015] S2: The infrared capture system real-time collects and obtains the aircraft attitude image and transmits it to the control module. The control module extracts the aircraft attitude image and judges whether the aircraft has a tendency to emerge from the water or enter the water. If the aircraft has a tendency to emerge from the water or enter the water, go to S3. If not, the infrared capture system executes the collection instruction;

[0016] S3: After the aircraft conducts a trans-medium flight of emerging from the water or entering the water, the aircraft attitude during the trans-medium flight of the aircraft is obtained through the infrared capture system and transmitted to the control module. The control module obtains the force and speed change data of the aircraft during its trans-medium flight and stores and analyzes them;

[0017] S4: The control module obtains the remaining energy information of the aircraft, determines whether the remaining energy of the aircraft can support continuous cross-medium flight tests. If the remaining energy of the aircraft is sufficient, it enters S1, and the control module outputs a new test plan as the current test plan to enable the aircraft to conduct a new round of test trials; if not, the test trials end.

[0018] Preferably, the output of the current test plan in S1 includes the following steps. The control module reads the preset test plan set pre-generated by the test mode generation module, and selects one of the multiple preset test plans as the current test plan for output.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The air-water cross-medium aircraft test platform based on a multi-fan matrix provided by the present invention simulates various wave forms by setting wave-making equipment in the pool to disturb the water body and adjust the water flow velocity, and the control module regulates the fan matrix to adjust the wind speed in real time to simulate the real sea surface conditions. Through the data acquisition module, the test module and the control module, high-precision dynamic scene simulation is achieved, so as to provide a cross-medium continuous test environment for unmanned aircraft or aircraft with underwater-air cross-medium capabilities from entering the water, emerging from the water to flying in the air, reducing the R & D cost and improving the efficiency and accuracy of cross-medium flight tests.

[0021] The air-water cross-medium aircraft test platform based on a multi-fan matrix provided by the present invention is suitable for small or medium-sized cross-medium aircraft by flexibly setting the pool size and fans with different powers and different quantities; the control module includes a test mode generation module, which can obtain different wind field data sets generated by the fan matrix and different wave data generated in the pool, and generates multiple preset test plans by using a combination algorithm, facilitating the control module to dynamically adjust the cross-medium continuous test of the aircraft according to the obtained aircraft attitude and the remaining energy of the aircraft, and realizing closed-loop control testing. Description of the Drawings

[0022] Figure 1 is a schematic structural diagram of the air-water cross-medium aircraft test platform and method according to an embodiment of the present invention;

[0023] Figure 2 is a schematic connection structure diagram of the test module according to an embodiment of the present invention;

[0024] Figure 3 is Figure 2 an enlarged schematic diagram of area A in

[0025] Figure 4Schematic cross-sectional view of the test module of the embodiment of the present invention in the side view direction;

[0026] Figure 5 Schematic flow chart of the air-water transmedia aircraft test method based on the multi-fan matrix according to the embodiment of the present invention.

[0027] Reference numerals: 1, water pool; 11, observation window; 2, fan matrix; 3, fixing frame; 4, hydraulic cylinder; 5, clapper board. Specific embodiments

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0029] In the following description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. The term "connection" only represents the connection between devices and has no special meaning.

[0030] In addition, as long as there is no conflict between the technical fields and installation methods involved in the embodiments of the present invention described below, they can be combined with each other.

[0031] Specific embodiment: Please refer to Figures 1-4 , the air-water transmedia aircraft test platform based on the multi-fan matrix includes a control module, a test module, a data acquisition module, and a display module;

[0032] The test module includes a water pool 1 and a fixing frame 3 installed at one end of the water pool 1. A wave-making device is installed at the other end of the water pool 1, and a fan matrix 2 is installed on the fixing frame 3;

[0033] The data acquisition module includes a sensor monitoring unit and an attitude monitoring unit. The sensor monitoring unit is configured to monitor the water body change data of the water pool and the wind field data of the fan matrix. The sensor monitoring unit includes an ultrasonic anemometer and a laser rangefinder. The laser rangefinder is arranged in the water pool 1, and the ultrasonic anemometer is installed above the water pool 1. The attitude monitoring unit includes an infrared capture system installed around the water pool 1 for capturing the aircraft and obtaining the aircraft attitude image. The data acquisition module transmits the test data of the test module and the aircraft attitude data collected to the control module;

[0034] The control module analyzes the acquired test data and the aircraft attitude images, which are then displayed through the display module. The display module provides a host computer software interface or a cloud API for easy viewing of the real-time data collected during the test experiment and the test process. The control module dynamically allocates and schedules the priority of the hardware resources of the test module, such as the sensor monitoring unit and the infrared capture system arranged at corresponding positions in the water tank 1, to ensure the acquisition accuracy and transmission of sensor data, stores and analyzes the collected data, and displays it in real time through the display module to assist the test personnel in making quick judgments.

[0035] The water tank 1 is fixedly installed on the ground in a certain specific area. The length, width, and height of the water tank 1 can be adjusted according to the requirements of the test experiment. The inner wall of the water tank 1 is lined with corrosion-resistant stainless steel or composite materials. A transparent observation window 11 is opened on the side wall of the water tank 1 to facilitate the observation and recording of the underwater position and attitude of the aircraft. The water tank 1 is filled with water of a specified salinity to simulate seawater. A temperature control unit is installed in the water tank 1 to regulate the temperature of the water, and the temperature adjustment range of the water is 5°C to 35°C. A water flow pump is provided on the side wall of the water tank 1 to generate a horizontal water flow velocity of 0.1 to 1.0 m / s in the water of the water tank 1, and the water flow pump can continuously regulate the water flow velocity. The sensor monitoring unit also includes a current meter, which is arranged in the water tank 1 to monitor the water flow velocity.

[0036] The wave-making device includes a hydraulic cylinder 4 and a flap 5. The control module is connected to the hydraulic cylinder 4. The end walls at both ends of the upper part of the water tank 1 expand outward respectively to form installation cavities 12. The side wall of the installation cavity 12 is fixedly connected to the fixed end of the hydraulic cylinder 4. A plurality of hydraulic cylinders 4 and flaps 5 are provided. The specific number of the hydraulic cylinders 4 and flaps 5 can be adjusted according to the requirements of the test experiment, so that the test platform is suitable for testing small or medium-sized trans-medium aircraft. A plurality of hydraulic cylinders 4 are arranged at intervals along the side wall of the installation cavity 12. A connecting ear is fixedly arranged at the telescopic end of the hydraulic cylinder 4. An installation ear is fixedly arranged on the upper part of the flap 5 close to the hydraulic cylinder 4. The installation ears on the plurality of flaps 5 are respectively hinged to the connecting ears at the telescopic ends of the plurality of hydraulic cylinders 4 through pin shafts. The lower part of the flap 5 extends into the water body. The plurality of flaps 5 can move synchronously or individually through the hydraulic cylinder 4. By controlling the movement amplitude of the telescopic end of the hydraulic cylinder 4, the flap 5 moves against the water resistance to generate different sizes of waves in the water tank 1. The sensor monitoring unit also includes a laser scanner and a camera. The wave form generated in the water tank 1 can be obtained by scanning the water body of the water tank 1 with the laser scanner. A camera is also provided on the water tank 1 to obtain the position of the flap 5 in the water tank 1 in real time. In this embodiment, it is set that the flap 5 can simulate a wave height of 0.1 to 0.4 meters through the wave-making device, and the vibration frequency adjustment range is a sine wave or an irregular wave of 0.5 to 2 Hz.

[0037] When the wave generated by the wave-making device is a sine wave, the control module generates a sine wave signal to drive the telescopic end of the hydraulic cylinder 4 to reciprocate according to the sine law, thereby driving the flap 5 to disturb the water body to form a sine wave.

[0038] When the wave generated by the wave-making device is an irregular wave, the control module generates an irregular wave signal to control the movement of the telescopic end of the hydraulic cylinder 4, driving the flap 5 to reciprocate in the pool 1 to disturb the water body. The position of the flap 5 is obtained in real time to obtain the irregular water body fluctuation generated by the flap 5. The irregular water body fluctuation can be decomposed into multiple simple harmonic waves with different frequencies and phases. After comparing the irregular water body fluctuation with the irregular wave signal, the movement of the hydraulic cylinder 4 is adjusted until the irregular water body fluctuation is close to the irregular wave signal, and an irregular wave simulating the real sea surface or water surface can be formed.

[0039] The fixing frame 3 is of a frame structure. The fixing frame 3 can be made of aluminum alloy or carbon steel. The bottom of the fixing frame 3 is fixed in the installation cavity 12. The fan matrix 2 includes a plurality of fans arranged in a rectangular array. Each fan is individually regulated by a brushless DC motor. The control module is electrically connected to the brushless DC motor to transmit an adjustment signal to the brushless DC motor for single-point control of the fan, so as to create a wind field on the water surface and above the water body of the fan matrix 2; the maximum power of each fan can be adjusted according to the test requirements. In this embodiment, the maximum power of the fan is set to 75W, and the set wind speed adjustment range of each fan is 1m / s to 15m / s.

[0040] The control module further includes a test mode generation module. The test mode generation module can pre-generate a variety of preset test schemes and store them as a preset test scheme set. The fan matrix 2 regulates the wind speed of the wind field generated above the pool 1 through the control module and stores the obtained wind field data as a wind field data set. The control module regulates the water body change data such as the wave height, wave form, and water body flow velocity of the water surface wave generated in the pool 1 through the wave-making device and stores the collected water body change data as a water body change data set. The test mode generation module reads the wind field data set and the water body change data set and uses a combination algorithm to generate a variety of preset test schemes, which is convenient for the aircraft to respond in real time and dynamically adjust during cross-medium testing.

[0041] Specifically, the four parameters of wind speed, wave height, wave frequency, and flow velocity are discretized through cluster analysis. Intervals are divided according to the actual distribution, and wind speed, wave height, wave frequency, or flow velocity are divided into three categories: low, medium, and high. All combinations of the four parameters are enumerated, and rules are set to screen out representative test scenarios. The screening rules include physical limitations, statistical frequencies, extreme conditions, and industry engineering standards, etc. Representative scenarios such as low wind - low wave - low flow, medium wind - medium wave - medium flow, high wind - high wave - high flow, and high wind - low wave - low flow are screened out and stored as preset test plans to simulate the real sea or water surface environment.

[0042] A plurality of ultrasonic anemometers are provided in the sensor monitoring unit. The plurality of ultrasonic anemometers jointly detect the wind field distribution output by the fan matrix 2. The plurality of ultrasonic anemometers are arranged at intervals above the pool 1 along the length direction of the pool 1, and the ultrasonic anemometers are supported and fixed above the pool 1 through waterproof brackets, etc. In this embodiment, the interval distance between the ultrasonic anemometers is 50 cm. A plurality of laser rangefinders are provided. The plurality of laser rangefinders are arranged at intervals along the length direction of the pool 1. The plurality of laser rangefinders can detect the change in the wave height of the water body at the corresponding position in the pool 1. The sensor monitoring unit further includes a temperature sensor, a humidity sensor, and a water quality sensor. The temperature and humidity in the air are relatively stable. A temperature sensor and a humidity sensor are fixedly arranged near the fan matrix 2 to detect the temperature and humidity of the air. In the pool 1, the water quality sensor, the temperature sensor, and the humidity sensor are fixed through brackets, buoys, etc., and are respectively used to monitor the temperature, humidity, and water quality of the water body.

[0043] The attitude monitoring unit further includes a plurality of visual marking points arranged on the aircraft. The infrared capture system includes an infrared camera and an infrared light source. The infrared light source emits infrared light to irradiate the visual marking points on the aircraft, and the infrared camera captures the infrared light reflected by the marking points. The control module detects the position of the visual marking points in the image, and combines the coordinate image information of the plurality of visual marking points to calculate the three-dimensional attitude of the aircraft through a computer vision algorithm using the PnP algorithm. The aircraft can freely perform climbing, level flight, or descending flight activities during the test. During the test process, the infrared capture system acquires the attitude of the aircraft and transmits it to the control module. When the infrared capture system monitors that the aircraft is about to emerge from the water or enter the water, it automatically executes a preset disturbance mode.

[0044] Among them, the preset disturbance mode includes a slight fluctuation in the fan speed and a slight vibration of the clapper board, etc., to enhance the adaptability of the aircraft to extreme uncertainties during cross-medium flight.

[0045] Furthermore, the test module adjusts the wave-making device and the fan matrix 2 by transmitting instructions through the control module. The aircraft conducts cross-medium flight tests under different test scenarios formed by different test schemes. The preset disturbance mode is executed, a reward function is set according to the stability index of the aircraft in cross-medium flight, and training is carried out through deep reinforcement learning to achieve adaptive test control based on flight feedback and support closed-loop optimization.

[0046] The test platform is also provided with a preset safety protection mode. When the preset safety protection mode is executed, the aircraft state or environmental parameters should meet the triggering conditions of the preset safety protection mode, that is, the aircraft has low power, or the wind speed suddenly changes, or the wave height exceeds the set value, etc. The control module transmits a shutdown instruction to the wave-making device and the fan matrix 2 to stop the generation of wind and waves, so that the aircraft can resist the interference of sudden failures or sudden environmental changes.

[0047] The control module is connected to the brushless DC motor, the water pump, the sensor monitoring unit, and the infrared capture system by industrial Ethernet or high-speed serial bus.

[0048] Pressure sensors, accelerometers, torque sensors, and speedometers are respectively installed on the aircraft. The pressure sensors measure the hydrodynamic pressure distribution on the surface of the aircraft. The accelerometers measure the three-axis acceleration of the aircraft to assist in analyzing the water entry impact. The torque sensors are used to measure three-dimensional forces and torques for force analysis in complex flow fields. The speedometers directly measure the relative speed between the aircraft and the water flow. The control module is connected to the pressure sensors, accelerometers, torque sensors, and speedometers on the aircraft to obtain the force and speed change data of the aircraft during cross-medium flight in real time. An energy sensor is also installed on the aircraft to collect the remaining energy information of the aircraft. The control module can read the preset test scheme set pre-generated by the test mode generation module according to the aircraft attitude and the remaining energy information of the aircraft, select one of the multiple preset test schemes and output it dynamically, and convert the preset test scheme into test instructions and transmit them to the fan matrix 2 and the wave-making device, so that the aircraft can conduct air-cross-medium-underwater flight test experiments in this test platform.

[0049] Please refer to Figure 5 , the air-water cross-medium aircraft test system based on multiple fan matrices is applied to the air-water cross-medium aircraft test platform described above. The specific steps include:

[0050] S1: The control module outputs the current test scheme, converts the current test scheme into test instructions and transmits them to the test module, and the aircraft conducts flight tests;

[0051] S2: The infrared capture system collects the attitude images of the aircraft in real time and transmits them to the control module. The control module extracts the attitude images of the aircraft and determines whether the aircraft has a tendency to emerge from or enter the water. If the aircraft has a tendency to emerge from or enter the water, it enters S3. If not, the infrared capture system executes the collection instruction;

[0052] S3: After the aircraft performs the cross-medium flight of emerging from or entering the water, the infrared capture system obtains the attitude of the aircraft during cross-medium flight and transmits it to the control module. The control module obtains the force and speed change data of the aircraft during its cross-medium flight and stores and analyzes them;

[0053] S4: The control module obtains the remaining energy information of the aircraft and determines whether the remaining energy of the aircraft can support continuous cross-medium flight tests. If the remaining energy of the aircraft is sufficient, it enters S1. The control module outputs a new test plan as the current test plan to enable the aircraft to conduct a new round of test trials; if not, the test trial ends.

Claims

1. An air-water cross-medium aircraft test platform based on a multi-fan matrix, characterized in that: It includes a control module, a test module and a data acquisition module; the test module includes a water tank and a fixing frame installed at one end of the water tank, a wave-making device is installed at the other end of the water tank, and a fan matrix is installed on the fixing frame; the data acquisition module includes a sensor monitoring unit and an attitude monitoring unit. The sensor monitoring unit monitors the water body change data of the water tank and the wind field data of the fan matrix. The attitude monitoring unit captures the aircraft through an infrared capture system and obtains the aircraft attitude image. The data acquisition module transmits the collected water body change data, wind field data and aircraft attitude data of the test module to the control module. The control module is connected to the energy sensor installed on the aircraft. The control module combines the water body change data and the wind field data, and dynamically outputs a test plan according to the aircraft attitude data obtained by the infrared capture system and the remaining energy information of the aircraft obtained by the energy sensor.

2. The air-water trans-medium aircraft test platform based on a multi-fan matrix according to claim 1, wherein: A transparent observation window is opened on the side wall of the water tank. A temperature control unit is installed in the water tank. A plurality of laser rangefinders are arranged at intervals along the length direction of the water tank. A water flow pump is arranged on the side wall of the water tank. A camera and a laser scanner are arranged above the water tank.

3. The air-water trans-medium aircraft test platform based on a multi-fan matrix according to claim 1, wherein: The wave-making device includes a hydraulic cylinder. The control module is connected to the hydraulic cylinder. A plurality of hydraulic cylinders are arranged at intervals along the side wall of the water tank away from the fixing frame. The telescopic ends of the plurality of hydraulic cylinders are hinged with a flap, and the lower part of the flap extends into the water body.

4. The air-water cross-media aircraft test platform based on a multi-fan matrix according to claim 1, wherein: The fan matrix includes fans arranged in a rectangular array. The control module performs single-point control on each fan.

5. The air-water cross-medium aircraft test platform based on a multi-fan matrix according to claim 1, characterized in that: The sensor monitoring unit includes a plurality of ultrasonic anemometers. The plurality of ultrasonic anemometers are fixedly installed above the water tank at the same interval. The attitude monitoring unit further includes a plurality of visual marking points arranged on the aircraft. The infrared capture system includes an infrared camera and an infrared light source. The infrared light source emits infrared light to irradiate the visual marking points on the aircraft, and the infrared camera captures the infrared light reflected by the marking points.

6. The air-water cross-medium aircraft test platform based on a multi-fan matrix according to claim 1, characterized in that: A pressure sensor, an accelerometer, a torque sensor and a speedometer are respectively installed on the aircraft. The control module is connected to the pressure sensor, accelerometer, torque sensor and speedometer on the aircraft.

7. The air-water cross-medium aircraft test platform based on a multi-fan matrix according to claim 1, wherein: It further includes a display module. The control module analyzes the obtained water body change data, wind field data and aircraft attitude data, and displays them through the display module; the control module further includes a test mode generation module. The test mode generation module pre-combines the water body change data and the wind field data by using a combination algorithm to generate a variety of preset test plans, and stores them as a preset test plan set.

8. The air-water trans-medium aircraft testing method based on a multi-fan matrix is applied to the air-water trans-medium aircraft testing platform based on a multi-fan matrix according to any one of claims 1-7 above, and is characterized in that: It includes the following steps: S1: The control module outputs the current test plan, converts the current test plan into a test instruction and transmits it to the test module, and the aircraft conducts a flight test. S2: The infrared capture system real-time collects and obtains the aircraft attitude image and transmits it to the control module. The control module extracts the aircraft attitude image and judges whether the aircraft has a tendency to emerge from the water or enter the water. If the aircraft has a tendency to emerge from the water or enter the water, go to S3. If not, the infrared capture system executes the collection instruction. S3: After the aircraft performs cross-medium flight for taking off or landing on water, the infrared capture system is used to obtain the aircraft attitude during cross-medium flight of the aircraft and transfer it to the control module. The control module obtains the force and speed change data of the aircraft during its cross-medium flight and stores and analyzes them; S4: The control module obtains the remaining energy information of the aircraft and determines whether the remaining energy of the aircraft can support continuous cross-medium flight tests. If the remaining energy of the aircraft is sufficient, it enters S1. The control module outputs a new test plan as the current test plan to enable the aircraft to conduct a new round of test trials; if not, the test trials end.

9. The air-water trans-medium aircraft testing method based on a multi-fan matrix according to claim 8, characterized in that: The output of the current test plan in S1 includes the following steps. The control module reads the preset test plan set pre-generated by the test mode generation module and selects one of the multiple preset test plans as the current test plan for output.

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