Three-degree-of-freedom attitude measurement device for unmanned aerial vehicle

Abstract

The invention provides an unmanned aerial vehicle three-degree-of-freedom attitude measurement device, and relates to the technical field of unmanned aerial vehicle attitude measurement, and the unmanned aerial vehicle three-degree-of-freedom attitude measurement device comprises a yaw measurement device, a pitching measurement device and a rolling measurement device; the yaw measuring device is arranged at the bottom of the overall measuring device and used for fixing the overall device and measuring the yaw angle of the unmanned aerial vehicle. The pitching measuring device is arranged above the yaw measuring device and is used for measuring the pitching angle of the unmanned aerial vehicle; the rolling measuring device is located in the middle of the yaw measuring device and used for measuring the rolling angle of the unmanned aerial vehicle and connecting the measuring device with the measured unmanned aerial vehicle model. The three-degree-of-freedom attitude angle measuring and limiting device has the three-degree-of-freedom attitude angle measuring and limiting functions, and the limiting position can be adjusted according to actual application requirements. The device is adaptive to various small and medium-sized unmanned aerial vehicles with fixed wings, rotors, fan wings and the like, is simple and compact in structure and convenient and efficient to mount, has practicability and economy, and can effectively guarantee the accuracy and reliability of attitude measurement.

Description

Technical Field

[0001] The present invention relates to the technical field of attitude testing of small and medium-sized unmanned aerial vehicles (UAVs), and in particular to a three-degree-of-freedom attitude measurement device for UAVs. Background Art

[0002] As the low-altitude economy gradually becomes a national strategic emerging industry, small and medium-sized drones are booming in areas such as military reconnaissance, environmental monitoring, precision agriculture, logistics and transportation, emergency rescue, and even cultural tourism and entertainment. Stable drone flight in complex weather conditions and changing environments relies on sound flight control algorithms. The selection of control parameters requires drone attitude data, so accurately measuring a drone's pitch, roll, and yaw attitude angles is a key technology for ensuring flight performance and mission reliability.

[0003] Currently, drone attitude measurement relies primarily on wind tunnel tests, flight tests, simulations, and static test equipment. Flight tests, among other things, present high operational risks, high testing costs, and difficulty reproducing specific operating conditions. Simulations suffer from inaccurate data due to discrepancies between the model and the actual environment. Existing static test equipment is often limited to single-degree-of-freedom or dual-degree-of-freedom measurements, making it impossible to perform simultaneous dynamic testing of three-dimensional attitude angles. Furthermore, most measurement devices are large and can only be used on rotary-wing drones, making them difficult to adapt to the rapid testing needs of drones of varying specifications. In particular, existing devices generally lack limiters, making it impossible to flexibly adjust the limit positions based on the safety attitude thresholds of different aircraft models.

[0004] Therefore, there is an urgent need for a posture measurement device that is small in size, has high measurement accuracy, and can achieve three-degree-of-freedom measurement, to solve the problems of the existing test platform, such as large size, poor adaptability, and unlimited position design. Summary of the Invention

[0005] The purpose of the present invention is to provide a three-degree-of-freedom attitude measurement device for an unmanned aerial vehicle (UAV), which can measure the three-degree-of-freedom attitude angle and can be used for detection of various small and medium-sized UAVs such as fixed-wing, rotor-wing, and fan-wing UAVs to solve the problems raised by the above-mentioned background technology.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a three-degree-of-freedom attitude measurement device for a UAV, comprising a yaw measurement device, a pitch measurement device, and a roll measurement device;

[0007] The yaw measurement device is arranged at the bottom of the measuring device and is used for fixing the entire device and measuring the yaw angle of the drone;

[0008] The pitch measurement device is arranged above the yaw measurement device and is used to measure the pitch angle of the UAV;

[0009] The roll measurement device is located in the middle of the pitch measurement device and is used to measure the roll angle of the drone and connect the measurement device with the drone model being measured.

[0010] As an embodiment of the present invention, the yaw measurement device includes a turntable base, a positive limit device, a reverse limit device and a cover plate;

[0011] The turntable base includes a base support and a yaw angle measuring element, and the yaw angle measuring element is fixedly connected to the base support by bolts;

[0012] The positive limiting device includes a limiting ratchet, a lower bearing, a spring, a ratchet buckle, a bearing baffle, an upper bearing, and an annular groove;

[0013] The spring is embedded in the annular groove and cooperates with the limiting ratchet through the symmetrically arranged ratchet buckle to achieve one-way limiting;

[0014] The lower bearing and the upper bearing are nested and assembled on the upper and lower sides of the limiting ratchet, and the bearing baffle cooperates with the upper bearing to achieve its axial positioning and support;

[0015] The reverse limit device is similar to the forward limit device, except that the ratchet wheels rotate in opposite directions. Both are fixed to the top of the turntable base in sequence by bolts.

[0016] The cover plate includes an inductive magnetic head, an upper end surface, and a bearing, wherein the inductive magnetic head is sleeve-connected and fixedly connected to the upper end surface;

[0017] The upper end surface is rotatably connected to the base support through a bearing.

[0018] As an embodiment of the present invention, the pitch measurement device includes a bottom frame, a left support device, and a right support device;

[0019] The bottom frame includes bottom frame connecting rods and connecting seats, and the bottom frame connecting rods are connected by angle brackets;

[0020] The left and right support devices are symmetrically fixed to the left and right sides of the bottom frame by bolts and nuts;

[0021] The left-hand support device includes a bearing seat, a limit ring, a limit bolt, a locking ring, a vertical bearing, a left-hand pitch axis and a set screw;

[0022] The bearing seat is rotatably connected to the left elevation shaft via a vertical bearing, the left elevation shaft is fixed to the vertical bearing via a set screw, and the locking ring is fixed to the bearing seat;

[0023] The limit stop ring is sleeve-connected and fixed to the left system pitch shaft, and the limit bolt can move in the groove of the lock ring to achieve the adjustment function of the limit position;

[0024] The right support device includes a bearing seat, a right pitch axis, a vertical bearing, a set screw, a connecting short shaft, an inductive magnetic head, a pitch angle measuring element and a baffle;

[0025] The bearing seat is rotatably connected to the right elevation shaft via a vertical bearing, and the right elevation shaft is fixed to the vertical bearing via a set screw.

[0026] One end of the inductive magnetic head is connected to the right pitch shaft through a connecting short shaft, and the other end cooperates with the pitch angle measuring element to measure the pitch angle of the drone;

[0027] One side of the baffle is fixedly connected to the pitch angle measuring element through bolts, and the other side is connected to the bottom frame through bolts and nuts.

[0028] As an embodiment of the present invention, the roll measurement device includes a pitch support, a set screw, a rear bearing, a connecting flange, a roll angle measuring element, a UAV connecting seat, a roll shaft, a middle bearing, a front bearing, a limit ring and a limit bolt;

[0029] The roll angle measuring element is fixed to one side of the pitch support through a connecting flange and is used to measure the roll angle of the drone;

[0030] The front bearing and the rear bearing are symmetrically arranged and installed in the bearing holes of the pitch support;

[0031] The UAV connecting seat is rotatably connected to the roll shaft via a central bearing and is located in the center of the pitch support;

[0032] One end of the roll shaft is sleeve-connected and fixedly connected to the roll angle measuring element, and the other end is sleeve-connected and fixedly connected to the limit ring;

[0033] The rolling shaft is rotatably connected to the front bearing, the middle bearing, and the rear bearing in sequence;

[0034] The limiting bolt slides in the groove of the pitch support.

[0035] As an embodiment of the present invention, the left and right ends of the roll measurement device are fixedly connected to the left pitch rotation axis and the right pitch rotation axis on the pitch measurement device by means of set screws.

[0036] As an embodiment of the present invention, the pitch measurement device is installed above the yaw measurement device through a connecting seat.

[0037] As an embodiment of the present invention, the yaw angle measuring element and the pitch angle measuring element are magnetically encoded Hall sensors, model GT-E; the roll angle measuring element is a magnetically encoded Hall sensor, model GT-B.

[0038] The present invention overcomes the structural limitations of conventional UAV attitude angle measurement devices, resolving issues such as the bulk, poor adaptability, and lack of position limits of conventional test platforms. By designing the measurement device's layout and structure, it achieves three-degree-of-freedom attitude angle measurement capabilities, boasting a compact size, high measurement accuracy, and flexible limit position adjustment. This allows testing of a wide range of small and medium-sized UAVs, including fixed-wing, rotary-wing, and fan-wing models. The measurement element utilizes a high-precision magnetically encoded Hall effect sensor, effectively ensuring accurate and reliable measurement results.

[0039] As a measuring device, the present invention can measure the yaw angle, pitch angle and roll angle of a drone. The main innovation of the present invention is to realize the function of three-degree-of-freedom attitude angle measurement by arranging angle sensors in three directions and combining mechanical components such as limit devices and bearing seats, thereby meeting the measurement needs of the attitude angle of small and medium-sized drones and effectively controlling costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0041] Figure 1 This is an axonometric diagram of the three-degree-of-freedom attitude measurement device for a UAV according to the present invention;

[0042] Figure 2 This is a back view of the three-degree-of-freedom attitude measurement device for a UAV according to the present invention;

[0043] Figure 3 This is an axonometric diagram of the yaw measurement device of the three-degree-of-freedom attitude measurement device for the UAV according to the present invention;

[0044] Figure 4 This is an exploded view of the yaw measurement device of the three-degree-of-freedom attitude measurement device for UAVs according to the present invention;

[0045] Figure 5 This is an axonometric diagram of the turntable of the three-degree-of-freedom attitude measurement device for the UAV of the present invention;

[0046] Figure 6 This is an exploded view of the forward limit device of the three-degree-of-freedom attitude measurement device for UAVs according to the present invention;

[0047] Figure 7 This is an exploded view of the cover of the three-degree-of-freedom attitude measurement device for UAVs according to the present invention;

[0048] Figure 8 This is an axonometric diagram of the pitch measurement device of the three-degree-of-freedom attitude measurement device of the UAV according to the present invention;

[0049] Figure 9This is an exploded view of the left support device of the UAV three-degree-of-freedom attitude measurement device of the present invention;

[0050] Figure 10 This is an exploded view of the right support device of the three-degree-of-freedom attitude measurement device for UAVs according to the present invention;

[0051] Figure 11 This is an exploded view of the roll measurement device of the three-degree-of-freedom attitude measurement device for UAVs according to the present invention;

[0052] Figure 12 This is a schematic diagram of the GT-E angle sensor of the present invention;

[0053] Figure 13 Schematic diagram of the GT-B angle sensor described in the present invention.

[0054] 1. Yaw measuring device; 1-1. Turntable base; 1-1-1. Base support; 1-1-2. Yaw angle measuring element; 1-2. Forward limit device; 1-2-1. Limit ratchet; 1-2-2. Lower bearing; 1-2-3. Spring; 1-2-4. Ratchet buckle; 1-2-5. Bearing baffle; 1-2-6. Upper bearing; 1-2-7. Annular slot; 1-3. Reverse limit device; 1-4. Cover; 1-4-1. Inductive head; 1-4-2. Bearing; 1-4-3. Upper end face; 2. Pitch measuring device; 2-1. Bottom frame; 2-1-1. Connecting seat; 2-1-2. Bottom frame connecting rod; 2-2. Left support device; 2-2-1. Bearing seat; 2-2-2. Limit ring; 2-2-3. Limit 1. Positioning bolt; 2-2-4. Locking ring; 2-2-5. Vertical bearing; 2-2-6. Left pitch axis; 2-2-7. Set screw; 2-3. Right support device; 2-3-1. Bearing seat; 2-3-2. Right pitch axis; 2-3-3. Vertical bearing; 2-3-4. Set screw; 2-3-5. Connecting short shaft; 2-3-6. Inductive head; 2-3-7. Pitch angle measuring element; 2-3-8. Baffle; 3. Roll measuring device; 3-1. Pitch support; 3-2. Set screw; 3-3. Rear bearing; 3-4. Connecting flange; 3-5. Roll angle measuring element; 3-6. UAV connecting seat; 3-7. Roll axis; 3-8. Middle bearing; 3-9. Front bearing; 3-10. Limiting ring; 3-11. Limiting bolt. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. In order to better understand the technical content of the present invention, specific embodiments are cited and explained in conjunction with the drawings as follows. Various aspects of the present invention are described in this disclosure with reference to the drawings, which show many illustrative embodiments. It should be understood that the various concepts and embodiments introduced above, as well as those described in more detail below, can be implemented in any of many ways. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0056] like Figure 1 、 Figure 2 As shown, a three-degree-of-freedom attitude measurement device for an unmanned aerial vehicle comprises a yaw measurement device (1), a pitch measurement device (2) and a roll measurement device (3).

[0057] like Figure 3 、 Figure 4 As shown, the yaw measurement device (1) comprises a turntable base (1-1), a forward limiting device (1-2), a reverse limiting device (1-3) and a cover plate (1-4).

[0058] like Figure 5 As shown, the turntable base (1-1) includes a base support (1-1-1) and a yaw angle measuring element (1-1-2), and the yaw angle measuring element (1-1-2) is fixedly connected to the base support (1-1-1) by bolts.

[0059] like Figure 6 As shown, the positive limiting device (1-2) includes a limiting ratchet (1-2-1), a lower bearing (1-2-2), a spring (1-2-3), a ratchet buckle (1-2-4), a bearing baffle (1-2-5), an upper bearing (1-2-6), and an annular groove (1-2-7); the spring (1-2-3) is embedded in the annular groove (1-2-7), and the ratchet buckle (1-2-4) and the limiting ratchet (1-2-1) are matched by the ratchet buckle (1-2-4) arranged symmetrically on the left and right to achieve one-way limiting; the lower bearing (1-2-2) and the upper bearing (1-2-6) are nested and assembled on the upper and lower sides of the limiting ratchet (1-2-1), and the bearing baffle (1-2-5) and the upper bearing (1-2-6) are matched to achieve their axial positioning and support.

[0060] The reverse limiting device (1-3) is similar to the forward limiting device (1-2), except that the ratchet wheels rotate in opposite directions. The two are fixed to the top of the turntable base (1-1) in sequence by bolts.

[0061] like Figure 7As shown, the cover plate (1-4) includes an inductive magnetic head (1-4-1), an upper end surface (1-4-3), and a bearing (1-4-2); the inductive magnetic head (1-4-1) and the upper end surface (1-4-3) are sleeve-connected and fixedly connected; the upper end surface (1-4-3) is rotatably connected to the base support (1-1-1) through the bearing (1-4-2).

[0062] like Figure 8 As shown, the pitch measurement device (2) comprises a bottom frame (2-1), a left support device (2-2), and a right support device (2-3); the bottom frame (2-1) comprises a bottom frame connecting rod (2-1-2) and a connecting seat (2-1-1), and the bottom frame connecting rods (2-1-2) are connected by angle brackets.

[0063] like Figure 9 As shown, the left system support device (2-2) includes a bearing seat (2-2-1), a limiting retaining ring (2-2-2), a limiting bolt (2-2-3), a locking ring (2-2-4), a vertical bearing (2-2-5), a left system pitching shaft (2-2-6) and a set screw (2-2-7); the bearing seat (2-2-1) and the left system pitching shaft (2-2-6) are rotationally connected via the vertical bearing (2-2-5), the left system pitching shaft (2-2-6) is fixed to the vertical bearing (2-2-5) via the set screw (2-2-7), and the locking ring (2-2-4) is fixedly connected to the bearing seat (2-2-1); the limiting retaining ring (2-2-2) and the left system pitching shaft (2-2-6) are sleeved and fixedly connected, and the limiting bolt (2-2-3) can move in the groove of the locking ring (2-2-4) to realize the adjustment function of the limiting position.

[0064] like Figure 10 As shown, the right support device (2-3) includes a bearing seat (2-3-1), a right pitch axis (2-3-2), a vertical bearing (2-3-3), a set screw (2-3-4), a connecting short shaft (2-3-5), an inductive magnetic head (2-3-6), a pitch angle measuring element (2-3-7) and a baffle (2-3-8); the bearing seat (2-3-1) and the right pitch axis (2-3-2) are rotatably connected through the vertical bearing (2-3-3), and the right pitch axis ( 2-3-2) is fixed to the vertical bearing (2-3-3) by a set screw (2-3-4); one end of the induction head (2-3-6) is connected to the right pitch shaft (2-3-2) through a connecting short shaft (2-3-5), and the other end cooperates with the pitch angle measuring element (2-3-7) to measure the pitch angle of the UAV; one side of the baffle (2-3-8) is fixed to the pitch angle measuring element (2-3-7) by a bolt, and the other side is connected to the underlying frame (2-1) by bolts and nuts.

[0065] The left supporting device (2-2) and the right supporting device (2-3) are symmetrically fixed to the left and right sides of the bottom frame (2-1) through bolts and nuts.

[0066] like Figure 11 As shown, the roll measuring device (3) includes a pitch support (3-1), a set screw (3-2), a rear bearing (3-3), a connecting flange (3-4), a roll angle measuring element (3-5), a UAV connecting seat (3-6), a roll shaft (3-7), a middle bearing (3-8), a front bearing (3-9), a limit ring (3-10) and a limit bolt (3-11); the roll angle measuring element (3-5) is fixed to one side of the pitch support (3-1) through the connecting flange (3-4) and is used to measure the roll angle of the UAV; the front bearing (3-9) and the rear bearing (3-3) The components are symmetrically arranged and installed in the bearing hole of the pitch support (3-1); the UAV connecting seat (3-6) is rotatably connected to the roll shaft (3-7) through the middle bearing (3-8) and is located in the center of the pitch support (3-1); one end of the roll shaft (3-7) is sleeve-connected and fixedly connected to the roll angle measuring element (3-5), and the other end is sleeve-connected and fixedly connected to the limit ring (3-10); the roll shaft (3-7) is rotatably connected to the front bearing (3-9), the middle bearing (3-8), and the rear bearing (3-3) in sequence; and the limit bolt (3-11) slides in the groove of the pitch support (3-1).

[0067] The left and right ends of the roll measurement device (3) are fixedly connected to the left pitch rotation axis (2-2-6) and the right pitch rotation axis (2-3-2) on the pitch measurement device (2) through set screws (3-2).

[0068] The pitch measurement device (2) is installed above the yaw measurement device (1) via a connecting seat (2-1-1).

[0069] like Figure 12 As shown, the yaw angle measurement element (1-1-2) and the pitch angle measurement element (2-3-7) are magnetically encoded Hall sensors, model GT-E.

[0070] like Figure 13 As shown, the roll angle measuring element (3-5) is a magnetically encoded Hall sensor, model GT-B.

[0071] The working process of this embodiment:

[0072] The base support (1-1-1) of the measuring device is fixed to a mobile platform or a fixed platform such as a laboratory wind tunnel by bolts and nuts for measurement. First, the drone or component to be measured is installed on the drone connection seat (3-6) by bolts and nuts or other connecting devices. Then, the angle limit positions are adjusted according to the safety threshold of the drone. The yaw angle limit function is achieved by unidirectionally rotating the positive limit device (1-2) and the reverse limit device (1-3) to the limit position; the pitch angle limit function is achieved by adjusting the position of the limit bolt (2-2-3) in the groove of the lock ring (2-2-4); and the roll angle limit function is achieved by adjusting the position of the limit bolt (3-11) in the groove of the pitch support (3-1). Finally, the mobile platform or wind tunnel is activated to place the drone under target conditions. At this time, the drone's motion posture will be transmitted to the measuring elements of the yaw measurement device (1), the pitch measurement device (2), and the roll measurement device (3). The yaw angle measurement element (1-1-2) will output the drone's yaw angle, the pitch angle measurement element (2-3-7) will output the drone's pitch angle, and the roll angle measurement element (3-5) will output the drone's roll angle. The measuring device is suitable for a variety of small and medium-sized drones and has good measurement accuracy and limiting effect.

[0073] The above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made in accordance with the spirit of the present invention are intended to be covered by the scope of protection of the present invention.

[0074] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Within the scope of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0075] The embodiments of the present invention are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A three-degree-of-freedom attitude measurement device for an unmanned aerial vehicle, characterized by: It comprises a yaw measurement device (1), a pitch measurement device (2) and a roll measurement device (3); The yaw measurement device (1) is arranged at the bottom of the measuring device and is used for fixing the entire device and measuring the yaw angle of the drone; The pitch measurement device (2) is arranged above the yaw measurement device (1) and is used to measure the pitch angle of the UAV; The roll measurement device (3) is located in the middle of the pitch measurement device (2) and is used for measuring the roll angle of the drone and connecting the measurement device with the drone model being measured.

2. The three-degree-of-freedom attitude measurement device for an unmanned aerial vehicle according to claim 1, characterized in that The yaw measurement device (1) comprises a turntable base (1-1), a forward limiting device (1-2), a reverse limiting device (1-3) and a cover plate (1-4); The turntable base (1-1) comprises a base support (1-1-1) and a yaw angle measuring element (1-1-2), and the yaw angle measuring element (1-1-2) is fixedly connected to the base support (1-1-1) via bolts. The forward limiting device (1-2) comprises a limiting ratchet (1-2-1), a lower bearing (1-2-2), a spring (1-2-3), a ratchet buckle (1-2-4), a bearing baffle (1-2-5), an upper bearing (1-2-6), and an annular slot (1-2-7); The spring (1-2-3) is embedded in the annular slot (1-2-7), and cooperates with the limiting ratchet (1-2-1) through the left-right symmetrically arranged ratchet buckles (1-2-4) to achieve one-way limiting. The lower bearing (1-2-2) and the upper bearing (1-2-6) are nested and assembled on the upper and lower sides of the limiting ratchet (1-2-1), and the bearing baffle (1-2-5) cooperates with the upper bearing (1-2-6) to achieve axial positioning and support thereof; The reverse limiting device (1-3) is similar to the forward limiting device (1-2), except that the ratchet wheels rotate in opposite directions, and both are fixed to the top of the turntable base (1-1) in sequence by bolts; The cover plate (1-4) comprises an inductive magnetic head (1-4-1), an upper end surface (1-4-3), and a bearing (1-4-2); the inductive magnetic head (1-4-1) and the upper end surface (1-4-3) are sleeve-connected and fixedly connected; The upper end surface (1-4-3) is rotatably connected to the base support (1-1-1) via a bearing (1-4-2).

3. The three-degree-of-freedom attitude measurement device for an unmanned aerial vehicle according to claim 1, characterized in that: The pitch measurement device (2) comprises a bottom frame (2-1), a left support device (2-2), and a right support device (2-3); The bottom frame (2-1) comprises a bottom frame connecting rod (2-1-2) and a connecting seat (2-1-1), and the bottom frame connecting rods (2-1-2) are connected via angle brackets; The left support device (2-2) and the right support device (2-3) are symmetrically fixed to the left and right sides of the bottom frame (2-1) by means of bolts and nuts; The left-side support device (2-2) comprises a bearing seat (2-2-1), a limiting ring (2-2-2), a limiting bolt (2-2-3), a locking ring (2-2-4), a vertical bearing (2-2-5), a left-side pitch axis (2-2-6), and a set screw (2-2-7); The bearing seat (2-2-1) is rotatably connected to the left system pitch shaft (2-2-6) via a vertical bearing (2-2-5); the left system pitch shaft (2-2-6) is fixed to the vertical bearing (2-2-5) via a set screw (2-2-7); and the locking ring (2-2-4) is fixedly connected to the bearing seat (2-2-1); The limit stop ring (2-2-2) is sleeve-connected and fixedly connected to the left system pitch shaft (2-2-6), and the limit bolt (2-2-3) can move in the groove of the lock ring (2-2-4) to achieve the function of adjusting the limit position; The right support device (2-3) comprises a bearing seat (2-3-1), a right pitch axis (2-3-2), a vertical bearing (2-3-3), a set screw (2-3-4), a connecting short shaft (2-3-5), an inductive magnetic head (2-3-6), a pitch angle measuring element (2-3-7) and a baffle (2-3-8); The bearing seat (2-3-1) is rotatably connected to the right elevation shaft (2-3-2) via a vertical bearing (2-3-3), and the right elevation shaft (2-3-2) is fixed to the vertical bearing (2-3-3) via a set screw (2-3-4); One end of the inductive magnetic head (2-3-6) is connected to the right pitch axis (2-3-2) via a connecting short shaft (2-3-5), and the other end cooperates with the pitch angle measuring element (2-3-7) to measure the pitch angle of the drone; One side of the baffle (2-3-8) is fixedly connected to the pitch angle measuring element (2-3-7) via bolts, and the other side is connected to the bottom frame (2-1) via bolts and nuts.

4. The three-degree-of-freedom attitude measurement device for an unmanned aerial vehicle according to claim 1, characterized in that: The roll measurement device (3) comprises a pitch support (3-1), a set screw (3-2), a rear bearing (3-3), a connecting flange (3-4), a roll angle measuring element (3-5), a UAV connecting seat (3-6), a roll shaft (3-7), a middle bearing (3-8), a front bearing (3-9), a limit ring (3-10), and a limit bolt (3-11); The roll angle measuring element (3-5) is fixed to one side of the pitch support (3-1) via a connecting flange (3-4) and is used to measure the roll angle of the UAV; The front bearing (3-9) and the rear bearing (3-3) are symmetrically arranged and installed in the bearing hole of the pitch support (3-1); The UAV connecting seat (3-6) is rotatably connected to the rolling shaft (3-7) via a central bearing (3-8) and is located in the center of the pitch support (3-1); One end of the rolling shaft (3-7) is sleeve-connected and fixedly connected to the rolling angle measuring element (3-5), and the other end is sleeve-connected and fixedly connected to the limit ring (3-10); The rolling shaft (3-7) is rotatably connected to the front bearing (3-9), the middle bearing (3-8), and the rear bearing (3-3) in sequence; The limiting bolt (3-11) slides in the groove of the pitch support (3-1).

5. The three-degree-of-freedom attitude measurement device for an unmanned aerial vehicle according to claim 1, characterized in that: The left and right ends of the roll measurement device (3) are fixedly connected to the left pitch rotation axis (2-2-6) and the right pitch rotation axis (2-3-2) on the pitch measurement device (2) via set screws (3-2).

6. The three-degree-of-freedom attitude measurement device for an unmanned aerial vehicle according to claim 1, characterized in that: The pitch measurement device (2) is installed above the yaw measurement device (1) via a connecting seat (2-1-1).

7. The three-degree-of-freedom attitude measurement device for an unmanned aerial vehicle according to claim 1, characterized in that: The yaw angle measuring element (1-1-2) and the pitch angle measuring element (2-3-7) are magnetically encoded Hall sensors, model GT-E; the roll angle measuring element (3-5) is a magnetically encoded Hall sensor, model GT-B.

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