Test platform and method based on orchestrable fan matrix and electromagnetic field environment

Abstract

The invention relates to the technical field of unmanned aerial vehicle testing, in particular to a testing platform and method based on an orchestrable fan matrix and an electromagnetic field environment, and the platform comprises a control module, a fan matrix execution module, an electromagnetic emission execution module, a sensor collection module and a safety protection module. The control module is respectively communicated with the fan matrix execution module, the electromagnetic emission execution module and the sensor acquisition module through a communication network, the fan matrix execution module and the electromagnetic emission execution module form a multi-physical field coupled test area, and the sensor acquisition module and the safety protection module are arranged in the test area. The sensor acquisition module comprises a wind field monitoring unit and an electromagnetic field monitoring unit, wind field disturbance and electromagnetic field disturbance are integrated on one test platform, and various complex or extreme environments can be reproduced flexibly; the test method is applied to the test platform, and various complex interference scenes can be repeatedly realized to test the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) testing, and particularly to a test platform and method based on an orchestratable fan matrix and an electromagnetic field environment. Background Art

[0002] With the wide application of UAVs in military, civilian, security, logistics and other fields, they often face diverse and complex interference factors in real environments, including multi-directional wind field disturbances and electromagnetic interference. Traditional wind tunnels mainly focus on aerodynamic testing, lack the ability to program multi-directional wind fields, and are difficult to superimpose electromagnetic interference scenarios; while electromagnetic compatibility or anechoic chamber testing for electromagnetic interference testing is usually disconnected from the aerodynamic environment and cannot simulate the dynamic characteristics of UAVs during real flight and the multi-source disturbed scenarios of sensors.

[0003] Therefore, how to construct a multi-physical field integrated test platform and method that can simultaneously couple and control "airflow" and "electromagnetism" indoors under low-risk and highly controllable laboratory conditions, so as to realistically simulate complex interference environments including wind field disturbances and electromagnetic interference and evaluate UAVs, has become a technical problem to be solved urgently. Summary of the Invention

[0004] In view of the above problems, the present invention provides a test platform and method based on an orchestratable fan matrix and an electromagnetic field environment to solve the technical problems raised in the above background art.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A test platform based on an orchestratable fan matrix and an electromagnetic field environment for multi-physical field testing of UAVs, including a control module, a fan matrix execution module, an electromagnetic emission execution module, a sensor acquisition module and a safety protection module. The control module communicates with the fan matrix execution module, the electromagnetic emission execution module and the sensor acquisition module respectively through a communication network. The fan matrix execution module and the electromagnetic emission execution module form a test area with multi-physical field coupling. The sensor acquisition module and the safety protection module are arranged in the test area. The sensor acquisition module includes a wind field monitoring unit and an electromagnetic field monitoring unit.

[0007] Further, the fan matrix execution module includes a plurality of fan units arranged in an array form in the test area. The plurality of fan units are fixed by fan brackets to form a multi-fan matrix. Each fan unit is driven by an independent motor and can be independently started, stopped and speed-controlled.

[0008] Furthermore, the electromagnetic emission execution module includes an alternating magnetic field emission device, a static magnetic field emission device, and an electromagnetic pulse emission device. The alternating magnetic field emission device includes a number of alternating magnetic field emission units arranged above the test area. Each alternating magnetic field emission unit is controlled by an independent circuit to generate alternating magnetic fields with different frequency bands and emission modes. The static magnetic field emission device includes a number of electromagnetic coils arranged above the test area. The current intensity of the electromagnetic coils is adjustable to generate a static magnetic field with adjustable magnetic field intensity. The electromagnetic pulse emission device includes a high-energy EMP generator, which is set below the test area to instantaneously generate high-energy electromagnetic pulses at the level of a flash.

[0009] Furthermore, the wind field monitoring unit includes an anemometer, a pressure sensor, a turbulence probe, a temperature and humidity sensor, and a PIV measurement device. The anemometer, pressure sensor, turbulence probe, temperature and humidity sensor, and PIV measurement device are respectively arranged within the test area to monitor in real time the wind field data of the wind field generated by the fan matrix execution module. The wind field data includes air flow velocity, air flow distribution, environmental parameters, and turbulence parameters. The collected wind field data is transmitted to the control module.

[0010] Furthermore, the electromagnetic field monitoring unit includes an electromagnetic field intensity sensor and a spectrum sensor. The electromagnetic field intensity sensor and the spectrum sensor are respectively arranged within the test area to measure the electromagnetic field data of the electromagnetic field generated by the electromagnetic emission execution module. The electromagnetic field data includes instantaneous and average field intensity distributions, the emission power of the electromagnetic emission execution module, and the effectiveness of its interference waveform. The collected electromagnetic field data is transmitted to the control module.

[0011] Furthermore, the control module includes a sensor control unit, a fan matrix control unit, an electromagnetic emission control unit, and an upper-level scheduling unit. The sensor control unit, the fan matrix control unit, and the electromagnetic emission control unit are respectively communicatively connected to the sensor acquisition module, the fan matrix execution module, and the electromagnetic emission execution module through a communication network. The sensor control unit transmits the wind field data of the fan matrix execution module and the electromagnetic field data of the electromagnetic emission execution module to the upper-level scheduling unit.

[0012] Furthermore, the upper-level scheduling unit includes a composite scenario script generation system. The composite scenario script generation system schedules the fan matrix control instructions and the electromagnetic interference control instructions on the same time axis, generates a composite scenario script using a customized AI scheduling algorithm, and the control module constructs a test environment with the required wind field air flow disturbance and the required electromagnetic interference superimposed in the test area by running the composite scenario script.

[0013] Furthermore, the safety protection device includes an interlocking protection unit and a pulse protection unit. The interlocking protection unit includes a plurality of emergency stop switches and edge guards. The plurality of emergency stop switches are respectively arranged in the electromagnetic emission execution module and the fan matrix execution module. The edge guards are arranged around the test area. The emergency stop switches interact with the control module through a software and hardware interlocking mechanism. The pulse protection unit includes a shielding cabin and a safety cabin. The shielding cabin is composed of metal plates surrounding the periphery of the test area. The four walls, floor and top of the shielding cabin are all made of electromagnetic shielding materials. Absorbing material walls and wedge-shaped absorbing bodies are arranged in the shielding cabin. The safety cabin is far away from the shielding cabin. The operator conducts UAV tests in the safety cabin through remote monitoring.

[0014] Furthermore, the sensor acquisition module further includes a visual motion capture unit. The visual motion capture unit is arranged in the test area. When a certain UAV enters a certain partition in the test area, it transmits the UAV trajectory information data to the control module.

[0015] The present invention also provides a test method based on an orchestratable fan matrix and an electromagnetic field environment, which is applied to the above-mentioned test platform based on an orchestratable fan matrix and an electromagnetic field environment, and includes:

[0016] S1: The control module generates and runs a UAV test scenario script, and outputs a fan matrix control instruction, an electromagnetic interference control instruction, or a wind field and magnetic field superposition interference instruction;

[0017] S2: The fan matrix execution module separately receives the fan matrix control instruction to generate a wind field, or the electromagnetic emission execution module receives the electromagnetic interference control instruction to generate an electromagnetic field, or the fan matrix execution module and the electromagnetic emission execution module simultaneously receive the wind field and magnetic field superposition interference instruction to generate a multi-physical field with superposition of a wind field and an electromagnetic field;

[0018] S3: The UAV conducts a disturbance test in a single wind field, a single electromagnetic field, or a multi-physical field. The disturbance test includes a perception system disturbance test, a flight control system anti-disturbance test, and a multi-aircraft cooperation test. The safety protection device is used during the disturbance test;

[0019] S4: The wind field monitoring unit collects the wind field data of the wind field, the electromagnetic field monitoring unit collects the electromagnetic field data of the electromagnetic field, the visual motion capture unit collects the UAV trajectory information data, and the control module receives the wind field data, the electromagnetic field data, and the UAV trajectory information data, continuously adjusts the fan matrix control instruction, the electromagnetic interference control instruction, or the wind field and magnetic field superposition interference instruction and outputs it until the disturbance test ends;

[0020] S5: The sensor acquisition module and the UAV on-board system record the UAV disturbance test data, including the perception system disturbance data, the flight control system anti-disturbance data, and the multi-aircraft cooperation data.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. A test platform based on an orchestratable fan matrix and an electromagnetic field environment provided by the present invention integrates wind field disturbance and electromagnetic field interference into an indoor test platform through a fan matrix execution module and an electromagnetic emission execution module. Through the closed-loop control between the control module, the sensor acquisition module, the fan matrix execution module, and the electromagnetic emission execution module, various complex or extreme environments can be flexibly reproduced, solving the limitations brought by the separate tests of traditional wind tunnels and electromagnetic laboratories.

[0023] 2. A test platform based on an orchestratable fan matrix and an electromagnetic field environment provided by the present invention uses modular fan units for the fan matrix execution module and pluggable electromagnetic emission units for the electromagnetic emission execution module. The scale and frequency band range of the platform can be flexibly upgraded according to test requirements. The test platform has strong scalability and high flexibility, and by setting a safety protection module, potential safety hazards and functional failures in actual applications can be reduced.

[0024] 3. A test method based on an orchestratable fan matrix and an electromagnetic field environment provided by the present invention can repeatedly implement various complex interference scenarios under the same or different experimental conditions by running test scenario scripts, and can test the reliability of the multi-aircraft cooperation and network communication of the drone sensing system, flight control system, and drone formation under double interference of aerodynamics and electromagnetics. While greatly improving the efficiency of research and comparative tests, it provides an experimental reference for the improvement of anti-interference strategies and distributed cooperation mechanisms of drones. Description of the Drawings

[0025] Figure 1 Schematic structural diagram of the test platform based on an orchestratable fan matrix and an electromagnetic field environment according to an embodiment of the present invention;

[0026] Figure 2 Schematic structural diagram of the test area according to an embodiment of the present invention;

[0027] Figure 3 Schematic flow diagram of the test method based on an orchestratable fan matrix and an electromagnetic field environment according to an embodiment of the present invention.

[0028] Reference Signs:

[0029] 1. Test area; 2. Multi-fan matrix; 21. Honeycomb device; 3. Alternating magnetic field emission device; 31. Static magnetic field emission device; 32. Electromagnetic pulse emission device; 4. Edge guardrail; 41. Shielded cabin; 42. Absorbing body. Detailed Embodiments

[0030] 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 the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0031] In the following description of the 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.

[0032] In addition, the technical fields and installation methods involved in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0033] Specific embodiment: Please refer to Figure 1 - Figure 2 , a test platform based on an orchestratable fan matrix and an electromagnetic field environment, for multi-physical field testing of unmanned aerial vehicles, including a control module, a fan matrix execution module, an electromagnetic emission execution module, a sensor acquisition module, and a safety protection module. The control module communicates with the fan matrix execution module, the electromagnetic emission execution module, and the sensor acquisition module respectively through a communication network, and performs closed-loop control on the fan matrix execution module, the electromagnetic emission execution module, and the sensor acquisition module. The fan matrix execution module and the electromagnetic emission execution module form a test area 1 for multi-physical field coupling, and the unmanned aerial vehicle conducts comprehensive tests in the test area 1. The sensor acquisition module and the safety protection module are arranged in the test area 1. The sensor acquisition module includes a wind field monitoring unit and an electromagnetic field monitoring unit. The wind field monitoring unit and the electromagnetic field monitoring unit respectively monitor and acquire the wind field data of the fan matrix execution module and the electromagnetic field data of the electromagnetic emission execution module. The safety protection module is used to provide safety protection during the unmanned aerial vehicle test.

[0034] Furthermore, the fan matrix execution module includes a number of fan units arranged in an array within the test area 1. The number of fan units are fixed by brackets to form a multi-fan matrix 2. Each fan unit is driven by an independent motor and can be independently started, stopped, and speed-controlled. The multi-fan matrix 2 is divided into several independently controllable fan groups. By creating speed differences and phase differences between the fan groups, various wind field patterns can be generated. The wind field patterns include gusts, pulsed winds, rotating eddies, and laminar / turbulent flow switching. The wind field patterns can be quickly switched or iteratively updated according to the test scenario requirements. For example, for a test scenario of "sudden crosswind → turbulence → strong wind attenuation", it can be simulated by updating the wind field pattern of "gust → rotating eddy → laminar / turbulent flow switching". By switching and updating the wind field patterns, different geographical scenarios such as urban canyons, mountain airflows, and ocean wind fields, as well as the disturbed scenarios of drones under extreme weather conditions such as the front of storms and hurricanes can be simulated. A honeycomb device 21 is provided between the multi-fan matrix 2 and the test area 1 for rectifying the wind field generated by the multi-fan matrix 2. The multi-fan matrix 2 can be scaled according to the UAV test requirements. In this embodiment, the multi-fan matrix 2 is a 40×40 fan array, the power of each fan unit is 75W, and the maximum wind speed is 14m / s.

[0035] Furthermore, the electromagnetic emission execution module includes an alternating magnetic field emission device 3, a static magnetic field emission device 31, and an electromagnetic pulse emission device 32. The alternating magnetic field emission device 3 includes a number of alternating magnetic field emission units, which are arranged above the test area 1. Each alternating magnetic field emission unit is controlled by an independent circuit and is used to generate alternating magnetic fields with different frequency bands and different emission modes. The alternating magnetic field frequency bands in this example include 2.4 GHz, 5.8 GHz, millimeter waves, and microwaves. Among them, the 2.4 GHz and 5.8 GHz frequency bands are used to interfere with the communication link of the drone, causing signal interruption, delay, or packet loss. Millimeter waves and microwaves are used to interfere with high-frequency sensitive devices such as the radar and millimeter wave sensing devices of the drone, causing sensing misjudgment, target loss, or positioning deviation. The alternating magnetic field emission modes include directional emission, omnidirectional emission, and variable power emission. The static magnetic field emission device 31 includes a number of electromagnetic coils, which are arranged above the test area 1. The current intensity of the electromagnetic coils is adjustable and is used to generate a static magnetic field with an adjustable magnetic field intensity. The adjustable range of the electromagnetic coil magnetic field intensity in this embodiment is 0-50 mT. The test area 1 is spatially divided into a number of cubic cells, and each cell is used as an independent partition. Through the alternating magnetic field emission device 3 and the static magnetic field emission device 31, interference waves can be generated in different partitions of the test area 1, causing deviation or distortion in the sensing system of the drone, thereby simulating situations such as communication link interruption, navigation drift, airborne hardware restart, or malfunction under electromagnetic interference. In this example, the "follow-up interference" strategy is adopted to trigger the interference wave, that is, when the drone moves to a certain partition of the test area 1, the interference wave of that partition is triggered. The electromagnetic pulse emission device 32 includes a high-energy EMP generator, which is arranged below the test area 1 and is used to instantaneously generate a high-energy electromagnetic pulse at the flash level, thereby generating an instantaneous high-energy pulse interference in the test area 1 to evaluate the ultimate tolerance of the drone's electronic system. In this embodiment, the "random pulse" strategy is adopted to trigger the instantaneous high-energy pulse interference, that is, high-energy electromagnetic pulses are randomly generated in the test area 1 according to the test needs to simulate the sudden electromagnetic interference in the real environment.

[0036] Furthermore, the wind field monitoring unit includes an anemometer, a pressure sensor, a turbulence probe, a temperature and humidity sensor, and a PIV measurement device. The anemometer, pressure sensor, turbulence probe, temperature and humidity sensor, and PIV measurement device are respectively arranged in the test area 1 and are used to monitor the wind field data of the wind field generated by the fan matrix execution module in real time. The wind field data includes air velocity, air flow distribution, environmental parameters, and turbulence structure, and the collected wind field data is transmitted to the control module.

[0037] Further, the electromagnetic field monitoring unit includes an electromagnetic field intensity sensor and a spectrum sensor. The electromagnetic field intensity sensor and the spectrum sensor are respectively arranged in the test area 1 and are used to measure the electromagnetic field data of the electromagnetic emission execution module. The electromagnetic field data includes the instantaneous and average field strength distributions, the emission power of the electromagnetic wave, and the effectiveness of its interference waveform, and transmits the collected electromagnetic field data to the control module.

[0038] Further, the control module includes a sensor control unit, a fan matrix control unit, an electromagnetic emission control unit, and an upper-level scheduling unit. The sensor control unit, the fan matrix control unit, and the electromagnetic emission control unit are respectively communicatively connected to the sensor acquisition module, the fan matrix execution module, and the electromagnetic emission execution module through a communication network. The sensor control unit transmits the wind field data of the fan matrix execution module and the electromagnetic field data of the electromagnetic emission execution module to the upper-level scheduling unit. On the one hand, the wind field monitoring unit real-time obtains the current wind field data and feeds it back to the fan matrix control unit. Based on the wind field data, the upper-level scheduling unit adjusts the fan matrix control instruction output to the fan matrix execution module in real time according to the UAV test scenario requirements, so as to dynamically adjust the rotation speed and start / stop state of each fan unit, and realize the closed-loop control of "real-time monitoring - data feedback - dynamic adjustment" of the wind field environment; on the other hand, the electromagnetic field monitoring unit real-time obtains the current electromagnetic field data and feeds it back to the electromagnetic emission control unit. Based on the electromagnetic field data, the upper-level scheduling unit adjusts the electromagnetic interference control instruction output to the electromagnetic field emission execution module in real time according to the "following interference" strategy and the "random pulse" strategy, so as to dynamically adjust the power, angle, waveform, and switch state of each device of the electromagnetic emission execution module, and realize the closed-loop control of "real-time monitoring - data feedback - dynamic adjustment" of the electromagnetic field environment; through the wind field closed-loop control and the electromagnetic field closed-loop control, the test platform can repeatedly realize various complex interference scenarios, enabling the UAV to conduct repeated research and comparative tests in the specified test scenario, ensuring the accuracy of the test while greatly improving the efficiency of repeated research and comparative tests.

[0039] Further, the upper-level scheduling unit includes a composite scenario script generation system. The composite scenario script generation system first schedules the fan matrix control instruction and the electromagnetic interference control instruction on the same time axis, and then uses a customized AI scheduling algorithm to generate a composite scenario script. By running the composite scenario script, the control module can build a test environment in the test area 1 that superimposes the required wind field airflow disturbance and the required electromagnetic interference, such as activating local microwave interference simultaneously at the moment of a sudden strong wind and randomly inserting electromagnetic pulse interference in continuous turbulence, so that the test platform can conduct integrated multi-physical field tests of "airflow" and "electromagnetism" coupling.

[0040] Furthermore, the safety protection device includes a linkage protection unit and a pulse protection unit. The linkage protection unit is used to address the possible linkage risks when the electromagnetic emission execution module and the fan matrix execution module work together, and includes multiple emergency stop switches and an edge guardrail 4. The multiple emergency stop switches are respectively arranged in the electromagnetic emission execution module and the fan matrix execution module, and the edge guardrail 4 is arranged around the test area 1. The emergency stop switches interact with the control module through a software and hardware interlock mechanism. Once it is detected that the UAV is out of control or at risk of collision, the control module can promptly cut off the relevant emergency stop switches. The pulse protection unit includes a shielding chamber 41 and a safety chamber, which are used to prevent adverse effects on the external environment and operators when the electromagnetic emission execution module emits high-energy electromagnetic pulses. The shielding chamber 41 is composed of metal plates surrounding the periphery of the test area 1. The four walls, floor, and top of the shielding chamber are all made of electromagnetic shielding materials, forming a "cage" structure that can isolate most external electromagnetic waves from internal electromagnetic waves. The test area 1 is inside the "cage" structure. The inner wall of the shielding chamber 41 is provided with an absorbing material wall and wedge-shaped absorbers 42 to reduce high-frequency reflection and standing waves and avoid the influence of secondary electromagnetic wave radiation. The safety chamber is far from the shielding chamber 41, and the operator conducts UAV tests in the safety chamber through remote monitoring to ensure the personal safety of the operator.

[0041] Furthermore, the sensor acquisition module further includes a visual motion capture unit. The visual motion capture unit is arranged in the test area 1 and is used to track the UAV and the UAV formation trajectory. When the visual motion capture unit captures a certain UAV entering a certain partition in the test area 1, it transmits the UAV trajectory information data to the control module, and the control module outputs local control instructions for the fan matrix and local control instructions for electromagnetic interference, triggering a local pulsating wind field and local electromagnetic wave interference in this partition.

[0042] The present invention also provides a test method based on an orchestratable fan matrix and electromagnetic field environment, which is applied to the above-mentioned test platform based on an orchestratable fan matrix and electromagnetic field environment, as Figure 3 shown, and includes the following steps:

[0043] S1: The control module generates and runs a UAV test scenario script, and outputs fan matrix control instructions, or electromagnetic interference control instructions, or wind field and magnetic field superposition interference instructions;

[0044] S2: The fan matrix execution module separately receives the fan matrix control instructions to generate a wind field, or the electromagnetic emission execution module receives the electromagnetic interference control instructions to generate an electromagnetic field, or the fan matrix execution module and the electromagnetic emission execution module simultaneously receive the wind field and magnetic field superposition interference instructions to generate a multi-physical field with the superposition of the wind field and the electromagnetic field;

[0045] S3: The UAV conducts perturbation tests in a single wind field, a single electromagnetic field, or a multi-physical field. The perturbation tests include perturbation tests on the sensing system, anti-disturbance tests on the flight control system, and multi-UAV cooperation tests. A safety protection device is used during the perturbation tests.

[0046] Among them, the UAV sensing system includes various navigation sensors installed on the UAV, related communication links, and airborne hardware. The navigation sensors include GPS, magnetic compass, visual SLAM, and lidar. The anti-disturbance test of the flight control system requires the UAV to perform specified flight tasks within test area 1. The specified flight tasks include hovering in place, path tracking, and multi-UAV formation cooperation. The multi-UAV cooperation tests include the wake interference test of the UAV formation and the networking reliability test of the shared communication link.

[0047] S4: The wind field monitoring unit collects wind field data of the wind field, the electromagnetic field monitoring unit collects electromagnetic field data of the electromagnetic field, the visual motion capture unit collects UAV trajectory information data, and the control module receives the wind field data, electromagnetic field data, and UAV trajectory information data, continuously adjusts the fan matrix control instruction, electromagnetic interference control instruction, or wind field magnetic field superposition interference instruction and outputs it until the perturbation test ends.

[0048] S5: The sensor acquisition module and the UAV airborne system record the UAV perturbation test data, including the perturbation data of the sensing system, the anti-disturbance data of the flight control system, and the multi-UAV cooperation data.

[0049] Among them, the perturbation data of the sensing system includes abnormal situation data such as communication link interruption, navigation drift, airborne hardware restart or malfunction that occur to the UAV within test area 1. Based on the perturbation data of the sensing system, it can provide an experimental reference for the anti-interference strategy and algorithm improvement of the UAV sensing system in a multi-physical field complex environment. The anti-disturbance data of the flight control system includes the attitude data, speed data, and flight control instructions of the UAV when performing specified flight tasks within test area 1. Based on the anti-disturbance data of the UAV flight control system, it can evaluate the anti-interference ability of the flight control system in the anti-disturbance test environment of the flight control system, verify the robustness and fault tolerance of the anti-disturbance strategy of the flight control system, and subsequently, online or offline training can be carried out using reinforcement learning or adaptive control algorithms to gradually optimize the anti-disturbance strategy of the UAV flight control system. The multi-UAV cooperation tests include the wake interference test of the UAV formation and the networking reliability test of the shared communication link. Based on the multi-UAV cooperation data, the operator can examine the cooperative actions of the multi-UAVs quickly switching to the self-organizing network or the backup navigation, thereby evaluating the distributed cooperation mechanism of the UAV formation and providing an experimental reference for exploring more advanced distributed cooperation mechanisms.

Claims

1. A test platform based on an orchestratable fan matrix and an electromagnetic field environment for multi-physical field testing of drones, characterized in that, It includes a control module, a fan matrix execution module, an electromagnetic emission execution module, a sensor acquisition module, and a safety protection module. The control module communicates with the fan matrix execution module, the electromagnetic emission execution module, and the sensor acquisition module respectively through a communication network. The fan matrix execution module and the electromagnetic emission execution module form a test area with multi-physical-field coupling. The sensor acquisition module and the safety protection module are arranged in the test area. The sensor acquisition module includes a wind field monitoring unit and an electromagnetic field monitoring unit.

2. The test platform based on the programmable fan matrix and the electromagnetic field environment according to claim 1, characterized in that The fan matrix execution module includes several fan units arranged in an array in the test area. The several fan units are fixed by fan brackets to form a multi-fan matrix. Each fan unit is driven by an independent motor and can be independently started, stopped, and speed-regulated.

3. The test platform based on the programmable fan matrix and the electromagnetic field environment according to claim 2, wherein The electromagnetic emission execution module includes an alternating magnetic field emission device, a static magnetic field emission device, and an electromagnetic pulse emission device. The alternating magnetic field emission device includes several alternating magnetic field emission units arranged above the test area. Each alternating magnetic field emission unit is controlled by an independent circuit to generate alternating magnetic fields with different frequency bands and different emission modes. The static magnetic field emission device includes several electromagnetic coils arranged above the test area. The current intensity of the electromagnetic coils is adjustable to generate a static magnetic field with adjustable magnetic field intensity. The electromagnetic pulse emission device includes a high-energy EMP generator, and the high-energy EMP generator is arranged below the test area to instantaneously generate a high-energy electromagnetic pulse at the flash level.

4. The test platform based on the programmable fan matrix and the electromagnetic field environment according to claim 3, wherein The wind field monitoring unit includes an anemometer, a pressure sensor, a turbulence probe, a temperature and humidity sensor, and a PIV measurement device. The anemometer, the pressure sensor, the turbulence probe, the temperature and humidity sensor, and the PIV measurement device are respectively arranged in the test area to real-time monitor the wind field data of the wind field generated by the fan matrix execution module. The wind field data includes air flow velocity, air flow distribution, environmental parameters, and turbulence parameters. The collected wind field data is transmitted to the control module.

5. The test platform based on the programmable fan matrix and the electromagnetic field environment according to claim 4, characterized in that, The electromagnetic field monitoring unit includes an electromagnetic field intensity sensor and a spectrum sensor. The electromagnetic field intensity sensor and the spectrum sensor are respectively arranged in the test area to measure the electromagnetic field data of the electromagnetic field generated by the electromagnetic emission execution module. The electromagnetic field data includes instantaneous and average field intensity distributions, the emission power of the electromagnetic emission execution module, and the effectiveness of its interference waveform. The collected electromagnetic field data is transmitted to the control module.

6. The test platform based on the programmable fan matrix and the electromagnetic field environment according to claim 5, characterized in that, The control module includes a sensor control unit, a fan matrix control unit, an electromagnetic emission control unit, and an upper-level scheduling unit. The sensor control unit, the fan matrix control unit, and the electromagnetic emission control unit are respectively connected to the sensor acquisition module, the fan matrix execution module, and the electromagnetic emission execution module through a communication network for communication. The sensor control unit transmits the wind field data of the fan matrix execution module and the electromagnetic field data of the electromagnetic emission execution module to the upper-level scheduling unit.

7. The test platform based on an orchestratable fan matrix and an electromagnetic field environment according to claim 6, characterized in that, The upper scheduling unit includes a composite scenario script generation system. The composite scenario script generation system schedules the fan matrix control instruction and the electromagnetic interference control instruction on the same time axis, generates a composite scenario script by using a customized AI scheduling algorithm, and the control module constructs a test environment with the required wind field airflow disturbance and the required electromagnetic interference superimposed in the test area by running the composite scenario script.

8. The test platform based on the programmable fan matrix and the electromagnetic field environment according to claim 1, characterized in that The safety protection device includes a linkage protection unit and a pulse protection unit. The linkage protection unit includes multiple emergency stop switches and edge guards. The multiple emergency stop switches are respectively arranged in the electromagnetic emission execution module and the fan matrix execution module, and the edge guards are arranged around the test area. The emergency stop switches interact with the control module through a software and hardware interlock mechanism; the pulse protection unit includes a shielding cabin and a safety cabin. The shielding cabin is composed of metal plates surrounding the periphery of the test area. The four walls, the ground and the top of the shielding cabin are all made of electromagnetic shielding materials. Absorbing material walls and wedge-shaped absorbing bodies are arranged in the shielding cabin. The safety cabin is far away from the shielding cabin, and the operator conducts the UAV test in the safety cabin through remote monitoring.

9. The test platform based on the programmable fan matrix and the electromagnetic field environment according to claim 1, characterized in that The sensor acquisition module further includes a visual motion capture unit. The visual motion capture unit is arranged in the test area. When a certain UAV enters a certain partition in the test area, the UAV trajectory information data is transmitted to the control module.

10. A test method based on an orchestratable fan matrix and an electromagnetic field environment, which is applied to the test platform based on an orchestratable fan matrix and an electromagnetic field environment according to any one of the above claims 1-9, characterized in that, Including: S1: The control module generates and runs the UAV test scenario script, and outputs the fan matrix control instruction, or the electromagnetic interference control instruction, or the wind field magnetic field superposition interference instruction; S2: The fan matrix execution module separately receives the fan matrix control instruction to generate a wind field, or the electromagnetic emission execution module receives the electromagnetic interference control instruction to generate an electromagnetic field, or the fan matrix execution module and the electromagnetic emission execution module simultaneously receive the wind field magnetic field superposition interference instruction to generate a multi-physical field with the superposition of the wind field and the electromagnetic field; S3: The UAV conducts the disturbance test in a single wind field, or a single electromagnetic field, or a multi-physical field. The disturbance test includes the perception system disturbance test, the flight control system anti-disturbance test and the multi-aircraft cooperation test. The safety protection device is used during the disturbance test; S4: The wind field monitoring unit acquires the wind field data of the wind field, the electromagnetic field monitoring unit acquires the electromagnetic field data of the electromagnetic field, the visual motion capture unit acquires the UAV trajectory information data, and the control module receives the wind field data, the electromagnetic field data and the UAV trajectory information data, continuously adjusts the fan matrix control instruction, or the electromagnetic interference control instruction, or the wind field magnetic field superposition interference instruction and outputs it until the disturbance test ends; S5: The sensor acquisition module and the UAV on-board system record the UAV disturbance test data, including the perception system disturbance data, the flight control system anti-disturbance data and the multi-aircraft cooperation data.

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