Attitude simulation device for unmanned aerial vehicle test and unmanned aerial vehicle pose simulation method
The attitude simulation device for UAV testing uses electric cylinders and a rotating platform to simulate the flight attitude of UAVs, solving the problems of high cost and external factors in real flight testing, and achieving efficient and accurate UAV attitude simulation and radar testing.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-26
- Publication Date
- 2026-03-27
AI Technical Summary
Current technologies cannot accurately reproduce the flight attitude of real drones, resulting in high costs for real flight testing, significant susceptibility to external factors, and low testing efficiency.
An attitude simulation device for UAV testing is provided, including a test platform, an electric cylinder, a rotating platform, and a controller. The device controls the movement of the electric cylinder and the rotating platform by calculating the flight attitude angle of the UAV, thereby simulating the flight attitude of the UAV.
It reduces the cost of real-world drone testing, improves testing efficiency and accuracy, avoids damage to the airframe and the influence of external factors, and achieves stable simulation of drone flight attitude and radar testing.
Smart Images
Figure CN121734686A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present disclosure relates to the field of unmanned aerial vehicle testing, and particularly relates to a posture simulation device for unmanned aerial vehicle testing and an unmanned aerial vehicle posture simulation method. BACKGROUND
[0002] In the prior art, a real unmanned aerial vehicle is usually used for flight testing to determine whether a radar installed on the unmanned aerial vehicle can identify an obstacle under different flight postures. However, each test consumes the battery of the unmanned aerial vehicle and causes body loss, and the cost of consumables is extremely high for long-term testing. Moreover, once an accident such as collision occurs, the unmanned aerial vehicle will be damaged, further increasing the cost.
[0003] Secondly, the real flight environment is greatly affected by external factors such as wind and weather, and it is difficult to accurately control the attitude angle of the unmanned aerial vehicle, resulting in large measurement data errors and the inability to accurately reflect the capability of the radar under a specific attitude angle. Moreover, the real flight test needs to apply for a flight airspace, and the process is complicated. Moreover, the test time is limited by the opening time of the airspace, and continuous testing cannot be carried out flexibly and efficiently.
[0004] In addition, in the prior art, it is difficult and abstract to analyze the flight of the unmanned aerial vehicle in the field through an attitude angle curve graph, and the flight posture of the unmanned aerial vehicle cannot be accurately displayed. Therefore, the posture of the unmanned aerial vehicle cannot be reproduced. SUMMARY
[0005] The technical problem to be solved by the present disclosure is to overcome the defects that the flight posture of the real unmanned aerial vehicle cannot be accurately reproduced and the cost of real flight testing is high in the prior art, and to provide a posture simulation device for unmanned aerial vehicle testing and an unmanned aerial vehicle posture simulation method.
[0006] The present disclosure solves the above technical problems by the following technical solutions:
[0007] In a first aspect, a posture simulation device for unmanned aerial vehicle testing is provided, which includes a test table, a plurality of electric cylinders, a rotating table, and a controller. The controller is electrically connected to the plurality of electric cylinders and the rotating table.
[0008] The extension end of the electric cylinder is connected to the test table, and the fixed end of the electric cylinder is connected to the rotating table.
[0009] The controller is configured to calculate the target extension length corresponding to each electric cylinder and the target rotation angle corresponding to the rotating table according to the flight attitude angle of the unmanned aerial vehicle, and control the corresponding electric cylinder to extend or retract according to the target extension length and control the rotating table to rotate according to the target rotation angle, so that the test table moves to the target position corresponding to the flight posture of the unmanned aerial vehicle.
[0010] Optionally, the posture simulation device further comprises a plurality of first movable joints, the first movable joints correspond to the electric cylinders one by one, and the telescopic ends of the electric cylinders are connected to the test table through the first movable joints.
[0011] The first movable joints are used for passive movement when the electric cylinders are telescoped according to the target telescopic length, so as to move the test table to the target position corresponding to the flight posture of the unmanned aerial vehicle.
[0012] And / or,
[0013] The posture simulation device further comprises a plurality of second movable joints, the second movable joints correspond to the electric cylinders one by one, and the fixed ends of the electric cylinders are connected to the rotating table through the second movable joints.
[0014] The second movable joints are used for passive movement when the electric cylinders are telescoped according to the target telescopic length, so as to move the test table to the target position corresponding to the flight posture of the unmanned aerial vehicle.
[0015] Optionally, the controller specifically comprises:
[0016] An acquisition unit is configured to acquire a flight posture angle of the unmanned aerial vehicle, the flight posture angle comprising a pitch angle, a roll angle and a yaw angle.
[0017] A rotation matrix calculation unit is configured to obtain a target rotation matrix according to the pitch angle and the roll angle.
[0018] A target telescopic length calculation unit is configured to calculate a target telescopic length corresponding to each electric cylinder according to the target rotation matrix and an initial position of the telescopic end of each electric cylinder.
[0019] A target rotation angle determination unit is configured to determine a target rotation angle of the rotating table according to the yaw angle.
[0020] Optionally, the number of the electric cylinders is three.
[0021] Optionally, the posture simulation device further comprises a height lifter, the height lifter is installed below the rotating table, and the height lifter is used for adjusting the height of the rotating table.
[0022] And / or,
[0023] The posture simulation device further comprises a moving device, the moving device is installed below the rotating table, and the moving device is used for moving the posture simulation device.
[0024] Optionally, the posture simulation device further comprises a radar device, the radar device is installed on the test table.
[0025] The radar device is configured to identify the target obstacle when the test platform moves to different target positions according to different flight attitude angles.
[0026] The controller is configured to determine a critical flight attitude angle at which the radar device cannot identify the target obstacle based on the first flight attitude angle in response to the radar device failing to identify the target obstacle at the first flight attitude angle.
[0027] Optionally, the flight attitude angle includes a preset flight attitude angle or a real-time flight attitude angle of an off-site UAV.
[0028] In a second aspect, a UAV pose simulation method is provided, which is applied to the attitude simulation device for UAV testing in the first aspect, and includes the following steps:
[0029] A target extension length corresponding to each of the electric cylinders and a target rotation angle corresponding to the rotating platform are calculated according to a flight attitude angle of the UAV.
[0030] The corresponding electric cylinders are controlled to extend according to the target extension length, and the rotating platform is controlled to rotate according to the target rotation angle, so that the test platform moves to a target position corresponding to the flight attitude of the UAV.
[0031] Optionally, the UAV pose simulation method further includes:
[0032] A first flight attitude angle is obtained, wherein the radar device identifies a target obstacle when the test platform moves to different target positions according to different flight attitude angles; and the first flight attitude angle is a flight attitude angle corresponding to the radar device failing to identify the target obstacle.
[0033] A critical flight attitude angle at which the radar device cannot identify the target obstacle is determined based on the first flight attitude angle.
[0034] In a third aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and used to run on the processor, and the processor implements the UAV pose simulation method in the second aspect when executing the computer program.
[0035] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the UAV pose simulation method in the second aspect.
[0036] In a fifth aspect, a computer program product is provided, which includes a computer program, and the computer program is executed by a processor to implement the UAV pose simulation method in the second aspect.
[0037] On the basis of common sense in the art, the above-mentioned preferred conditions can be combined arbitrarily, i.e. the preferred examples of the present disclosure.
[0038] The positive progress effect of the present disclosure is that: in order to solve the problems of the existing technology that the flight attitude of the real unmanned aerial vehicle cannot be accurately reproduced and the cost of real flight test is high, the flight attitude simulation of the unmanned aerial vehicle is realized through an attitude simulation device for unmanned aerial vehicle test, the movement of the test platform is realized according to the movement of the plurality of electric cylinders and the rotary platform, so as to simulate the flight attitude of the corresponding unmanned aerial vehicle. Among them, the controller can calculate the target extension length corresponding to each electric cylinder and the target rotation angle corresponding to the rotary platform according to the flight attitude angle of the unmanned aerial vehicle; and control the corresponding electric cylinder to extend and retract, control the rotary platform to rotate, so that the test platform moves to the position corresponding to the flight attitude of the unmanned aerial vehicle, realizes the simulation test of the flight attitude of the unmanned aerial vehicle, and reduces the cost of using the real unmanned aerial vehicle; Therefore, the attitude simulation device can be applied in the radar test of the unmanned aerial vehicle, and the attitude simulation device can also be applied in the real-time unmanned aerial vehicle attitude reproduction. BRIEF DESCRIPTION OF DRAWINGS
[0039] Figure 1 A structural schematic diagram of an attitude simulation device for unmanned aerial vehicle test provided for the embodiment 1;
[0040] Figure 2 A module schematic diagram of a controller provided for the embodiment 1;
[0041] Figure 3 A structural schematic diagram of an attitude simulation device for unmanned aerial vehicle test provided for the embodiment 1;
[0042] Figure 4 A structural schematic diagram of an attitude simulation device for unmanned aerial vehicle test provided for the embodiment 1;
[0043] Figure 5 A structural schematic diagram of an attitude simulation device for unmanned aerial vehicle test provided for the embodiment 1;
[0044] Figure 6 A structural schematic diagram of an attitude simulation device for unmanned aerial vehicle test provided for the embodiment 1;
[0045] Figure 7 A structural schematic diagram of an attitude simulation device for unmanned aerial vehicle test provided for the embodiment 1;
[0046] Figure 8 A structural schematic diagram of an attitude simulation device for unmanned aerial vehicle test provided for the embodiment 1;
[0047] Figure 9 A flow chart of a UAV pose simulation method provided for Embodiment 2 is shown in FIG. 1.
[0048] Figure 10 A specific flow chart of step S21 provided for Embodiment 2 is shown in FIG. 2.
[0049] Figure 11 A partial flow chart of a UAV pose simulation method provided for Embodiment 2 is shown in FIG. 3.
[0050] Figure 12 A structural schematic diagram of an electronic device provided for Embodiment 3 is shown in FIG. 4. DETAILED DESCRIPTION
[0051] The present disclosure will be further described below by way of examples, but the present disclosure is not limited to the described examples.
[0052] In the embodiments of the present disclosure, the prefix words such as "first", "second" are merely used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of ordinal words such as ordinal words in the embodiments of the present disclosure does not constitute a limitation on the described objects, and the description of the described objects should be referred to the description of the context in the claims or embodiments, and should not constitute an unnecessary limitation because of the use of such prefix words. In addition, in the description of the embodiments, unless otherwise specified, the meaning of "a plurality of" is two or more.
[0053] Embodiment 1
[0054] Figure 1 A structural schematic diagram of a pose simulation device for UAV testing provided for the embodiment is shown in FIG. 5, which includes a test table 10, a plurality of electric cylinders 11, a rotating table 12, and a controller (not shown in the figure); wherein the controller is electrically connected with the plurality of electric cylinders 11 and the rotating table 12 respectively; the telescopic end of the electric cylinder 11 is connected with the test table 10, and the fixed end of the electric cylinder 11 is connected with the rotating table 12. Figure 1 In the embodiment, the electric cylinder 11 is a modular device integrating the motor and the lead screw, which can accurately convert the rotary motion of the motor into linear motion. The rotating table 12 includes a motor and a platform driven to rotate by the motor.
[0055]
[0056] The controller is used to calculate the target extension length corresponding to each electric cylinder 11 and the target rotation angle corresponding to the rotating platform 12 based on the flight attitude angle of the UAV; and to control the corresponding electric cylinder to extend and retract based on the target extension length, and to control the rotating platform to rotate based on the target rotation angle, so that the test platform 10 moves to the target position corresponding to the flight attitude of the UAV.
[0057] In this embodiment, after calculating the target extension length corresponding to each electric cylinder and the target rotation angle corresponding to the rotating platform, the controller controls the motor in each electric cylinder to extend or retract the cylinder by the target extension length, and controls the motor in the rotating platform to rotate the platform by the target rotation angle. This moves the test platform to the target position corresponding to the UAV's flight attitude, thus realizing the simulation test of the UAV's flight attitude and reducing the cost of using a real UAV. Therefore, this attitude simulation device can be applied to the radar test of UAVs, and it can also be applied to the real-time UAV attitude reproduction.
[0058] In one optional implementation, the flight attitude angle includes a preset flight attitude angle or the real-time flight attitude angle of the off-site UAV.
[0059] In this embodiment, if the flight attitude angle is a preset flight attitude angle, the attitude simulation device can be applied to the radar test of the UAV; thereby solving the problems of high test material cost, the flight environment being greatly affected by external factors such as wind and weather, and the cumbersome process of applying for airspace in the process of using real UAVs to conduct radar flight tests to determine whether the radar installed on the UAV can identify obstacles under different flight attitudes in the prior art.
[0060] In this embodiment, if the flight attitude angle is the real-time flight attitude angle of the off-site UAV, then the attitude simulation device can be applied to the real-time UAV attitude reproduction, thereby solving the problem that the existing technology of analyzing the flight attitude of the off-site UAV through attitude angle curves is difficult and abstract, and cannot accurately display the flight attitude of the UAV.
[0061] In one alternative implementation, such as Figure 1 As shown, there are three electric cylinders. In this embodiment, the controller controls the motors of these three electric cylinders to simulate the UAV's flight attitude corresponding to the pitch and roll angles in the flight attitude angles, so that the test platform moves accordingly with the extension and retraction of the three electric cylinders, thereby ensuring the stability of the test platform after moving according to the extension and retraction of the electric cylinders.
[0062] In other alternative implementations, the number of electric cylinders can be two. In this case, although the test platform can move according to the extension and retraction of the two electric cylinders, the position of the test platform is prone to change after the movement, causing instability in the attitude simulation.
[0063] In other alternative implementations, the number of electric cylinders can be four. In this case, the controller controls the motors of the four electric cylinders to simulate the UAV's flight attitude corresponding to the pitch and roll angles. During this process, since the extension and retraction of three of the electric cylinders will define a plane, stabilizing the test platform on that plane, the extension and retraction of the fourth electric cylinder becomes unnecessary.
[0064] Therefore, when the number of electric cylinders is three, the attitude simulation device can achieve better simulation of UAV flight attitude.
[0065] In one alternative implementation, such as Figure 2 As shown, the controller 13 specifically includes:
[0066] The acquisition unit 131 is used to acquire the flight attitude angles of the UAV, including pitch angle, roll angle, and yaw angle. In this embodiment, based on the mapping relationship between flight attitude angles and mechanical motion, the pitch angle, roll angle, and yaw angle can be linked to the extension and retraction of the electric cylinder and the rotation of the rotating platform through rotation matrix transformation. Specifically, the pitch angle is a rotation about the Y-axis, the roll angle is a rotation about the X-axis, and the yaw angle is a rotation about the Z-axis. For the rationality of the attitude simulation device design, the simulation of pitch angle and roll angle is achieved through the extension and retraction of the electric cylinder, and the simulation of yaw angle is achieved through the rotating platform.
[0067] Rotation matrix calculation unit 132 is used to obtain the target rotation matrix based on the pitch angle and the roll angle; in this embodiment, the pitch angle is used as... Indicates the roll angle using Therefore, the rotation matrix about the X-axis It can be represented as:
[0068]
[0069] Rotation matrix around the Y-axis It can be represented as:
[0070]
[0071] Therefore, the total rotation matrix R corresponding to the pitch and roll angles can be expressed as:
[0072]
[0073] Based on the obtained actual values of pitch and roll angles, these values can be substituted into the overall rotation matrix R to obtain the specific target rotation matrix. For example, pitch angle... Roll angle Then the target rotation matrix for:
[0074]
[0075] The target extension length calculation unit 133 is used to calculate the target extension length corresponding to each electric cylinder based on the target rotation matrix and the initial position of the extension end of each electric cylinder. The plane corresponding to the UAV flight attitude is determined based on the target extension length corresponding to each electric cylinder.
[0076] In a specific example, suppose the initial position coordinates of the telescopic end of one of the electric cylinders are...
[0077] The scaled coordinates are obtained by calculating the target rotation matrix. ,in This is the target extension / retraction length of the electric cylinder.
[0078] For example, the target rotation matrix is ,but
[0079]
[0080] Therefore, the target extension length of the electric cylinder is:
[0081] In another alternative implementation, the target extension length can also be calculated directly from the total rotation matrix R, assuming the initial position coordinates of the extension end of one of the electric cylinders are... The scaled coordinates are obtained by calculating the target rotation matrix. It can be represented as:
[0082]
[0083] Therefore, the formula for calculating the target extension length of the electric cylinder is: pitch angle and roll angle By substituting the actual value, the target extension length of the electric cylinder can be obtained.
[0084] In a specific example, if there are three electric cylinders, then suppose the initial coordinates of the telescopic ends of these three electric cylinders before telescopic movement are as follows:
[0085] Therefore, based on the target rotation matrix, the scaled coordinates can be calculated as follows:
[0086]
[0087]
[0088]
[0089] Thus, the target extension / retraction lengths corresponding to the three electric cylinders are as follows:
[0090]
[0091]
[0092]
[0093] The controller controls the motor of the corresponding electric cylinder according to the three target extension lengths, so that the extension end of each electric cylinder can extend or retract by the target extension length.
[0094] The target rotation angle determination unit 134 is used to determine the target rotation angle of the rotating platform based on the yaw angle. In this embodiment, the yaw angle can be converted into radians to obtain the target rotation angle of the rotating platform.
[0095] In the process of replicating the flight attitude of a UAV, the sampling time for converting the yaw angle to radians to obtain the target rotation angle can be controlled to be the same as the sampling time for calculating the target extension / retraction length of each electric cylinder. This ensures that each electric cylinder extends and retracts synchronously according to its corresponding target extension / retraction length. Simultaneously, the motor in the rotating platform drives the rotating platform to rotate, causing the entire attitude simulation device to rotate. This ensures that the attitude simulation device is consistent with the flight attitude of the UAV in the field, dynamically matching the UAV's flight attitude. In this process, the attitude simulation device achieves full-dimensional simulation of the UAV's flight attitude, and the accuracy of the UAV flight attitude replication can be improved to over 95%. The flight attitude angle simulation and the actual flight attitude delay of the UAV in the field are almost synchronized, with a completion rate of over 95%. Moreover, the motors of each electric cylinder and the rotating platform in the attitude simulation device are independently controlled and work collaboratively. Therefore, the simulation process has high stability and can achieve continuous operation. In addition, the mechanical structure of the attitude simulation device is very simple and has strong versatility, making it applicable to the flight attitude simulation of different types of UAVs.
[0096] In specific UAV flight attitude reproduction, in order to improve the real-time performance and accuracy of the reproduction, an IMU (Inertial Measurement Unit) device can be installed on the UAV in the field, so as to accurately calculate the real-time flight attitude angle of the UAV in the field and send the flight attitude angle to the controller of the attitude simulation device.
[0097] In this embodiment, since the target extension length only corresponds to the displacement on the Z-axis when calculating the corresponding extended coordinates based on the target rotation matrix and the initial position coordinates of the electric cylinder, it is necessary to set up a movable joint to compensate for the displacements on the X and Y axes. For example, assuming the initial position coordinates of the extension end of one of the electric cylinders are... The scaled coordinates are obtained by calculating the target rotation matrix. This refers to the theoretical position. Specifically, the controller controls the extension and retraction of the electric cylinder to achieve displacement of the initial position coordinates on the Z-axis, but it cannot achieve displacement on the X and Z axes. This results in a certain error between the actual position reached by the extension and retraction end of the electric cylinder and the theoretical position. Therefore, a movable joint is needed to compensate for the displacement on the X and Z axes. At the same time, the movable joint can also counteract the deformation of the test platform that may be caused by the extension and retraction of the electric cylinder.
[0098] In one alternative implementation, such as Figure 3 As shown, the attitude simulation device also includes a plurality of first movable joints 14, each of which corresponds to an electric cylinder 11. The telescopic end of the electric cylinder 11 is connected to the test platform 10 through the first movable joint 14. The first movable joint 14 is used to passively move when the electric cylinder 11 extends or retracts according to the target telescopic length, so that the test platform 10 moves to the target position corresponding to the flight attitude of the UAV.
[0099] In this embodiment, the first movable joint can be a ball joint or a Hooke joint, possessing multiple rotational degrees of freedom. When all the electric cylinders extend and retract to their respective target lengths under the drive of the controller, the first movable joint 14 passively rotates accordingly, thereby compensating for the positional difference in the X and Y axes between the theoretical position and the pure extension and retraction motion. Therefore, under the combined action of the active extension and retraction drive of the electric cylinders and the passive attitude adjustment compensation of the first movable joint, the test platform 10 can accurately move and stabilize at the target position corresponding to the UAV's flight attitude. This design cleverly simplifies the control complexity with a passive joint, achieving the necessary underactuated adaptation in UAV attitude simulation.
[0100] In another alternative implementation, such as Figure 3 As shown, the attitude simulation device also includes multiple second movable joints 15, each corresponding to an electric cylinder 11. The fixed end of the electric cylinder 11 is connected to the rotating platform 12 through the second movable joint 15. The second movable joint 15 is used to passively move when the electric cylinder 11 extends or retracts according to the target extension length, so that the test platform 10 moves to the target position corresponding to the UAV's flight attitude.
[0101] In this embodiment, the second movable joint can be a ball joint or a Hooke joint, possessing multiple rotational degrees of freedom. When all the electric cylinders extend and retract to their respective target lengths under the drive of the controller, the second movable joint 15 passively rotates accordingly, thereby compensating for the positional difference in the X and Y axes between the theoretical position and the pure extension and retraction motion. Therefore, under the combined action of the active extension and retraction drive of the electric cylinders and the passive attitude adjustment compensation of the second movable joint, the test platform 10 can accurately move and stabilize at the target position corresponding to the UAV's flight attitude. This design cleverly simplifies the control complexity with a passive joint, achieving the necessary underactuated adaptation in UAV attitude simulation.
[0102] In practice, the attitude simulation device may contain only the first movable joint, only the second movable joint, or both the first and second movable joints, so that the test platform can move precisely and stabilize at the target position corresponding to the UAV's flight attitude.
[0103] In one alternative implementation, such as Figure 4 As shown, the attitude simulation device also includes a height adjustment mechanism 16, which is installed below the rotating platform 12. The height adjustment mechanism 16 is used to adjust the height of the rotating platform 12. In this embodiment, by adjusting the height of the height adjustment mechanism, the user can conveniently observe the simulated flight attitude of the UAV from a suitable height. Figure 4 It can also be seen that the rotating platform 12 includes a platform 121 and a motor 122. The controller controls the motor 122 to rotate, thereby causing the platform 121 to rotate by the target rotation angle, which in turn drives the multiple electric cylinders set on the rotating platform and the test platform to rotate as a whole.
[0104] Specifically, such as Figure 5 As shown, the height lifting platform 16 includes at least one lifting rod 161 and at least one guide column 162. The lifting rod 161 is used to adjust the height of the rotating platform, and the guide column 162 is used to support the rotating platform. This prevents unnecessary twisting or wobbling of the rotating platform caused by the forces generated during the movement of the electric cylinder and the rotating platform motor, ensuring that the platform's movement is deterministic when changing its attitude, preventing uncontrollable swaying, and improving the motion stability and rigidity of the entire attitude simulation device.
[0105] In one alternative implementation, such as Figure 4 As shown, the attitude simulation device also includes a moving device 17, which is installed below the rotating platform 12; the moving device is used to move the attitude simulation device.
[0106] Specifically, such as Figure 5As shown, the mobile device 17 includes a frame 171, at least one handle 172 mounted on the frame 171, at least one support leg 173, and at least one caster wheel 174. The frame can be used to house a height-lifting device, the handle is used to facilitate pushing the mobile device, the support leg is used to place the posture simulation device stably on the ground, and the caster wheel is used to move the posture simulation device.
[0107] like Figure 6 As shown, the frame 171 of the moving device 17 is also provided with a cable inlet 175, which is used to house the motor of the rotating table inside the frame 171. The attitude simulation device, after being compressed, is as follows: Figure 7 As shown.
[0108] In one alternative implementation, such as Figure 8 As shown, the attitude simulation device also includes a radar device 18, which is mounted on the test platform 10. The radar device 18 is used to identify target obstacles when the test platform 10 moves to different target positions according to different flight attitude angles.
[0109] In UAV radar testing, the target obstacle can be placed directly in front of the radar device before the UAV flight attitude simulation begins, ensuring that the radar device can identify the target obstacle from its initial position. In practice, the user sends preset flight attitude angles to the controller, including pitch, roll, and yaw angles. The controller calculates the target extension / retraction length corresponding to each electric cylinder and the target rotation angle corresponding to the rotating platform based on the preset flight attitude angles, and controls the motors of the electric cylinders and the rotating platform to operate simultaneously, causing each electric cylinder to extend / retract the target extension / retraction length and the rotating platform to rotate the target rotation angle. When the test platform moves to the corresponding target position according to the target extension / retraction length and target rotation angle, it is determined whether the radar device can identify the target obstacle at that preset flight attitude angle. Specifically, the radar device determines whether it has identified the target obstacle by analyzing the point cloud recognition status at that preset flight attitude angle.
[0110] Repeat the above steps to gradually approach and traverse the flight attitude angles of the UAV's extreme attitude range, continuously calculate the point cloud recognition rate data of multiple sets of target obstacles, until the radar device can no longer identify the target obstacle at a certain flight attitude angle, and record the flight attitude angle at that simulated attitude as the first flight attitude angle.
[0111] The controller is configured to, in response to the radar device being unable to identify the target obstacle at a first flight attitude angle, determine a critical flight attitude angle at which the radar device cannot identify the target obstacle based on the first flight attitude angle.
[0112] In practice, the controller can directly determine the first flight attitude angle for each flight as the critical flight attitude angle.
[0113] In other embodiments, the controller may further determine the first flight attitude angle as the critical flight attitude angle at which the radar device cannot identify the target obstacle in response to the detection that the number of times the first flight attitude angle is recorded exceeds a preset threshold. During radar testing, repeated tests are conducted to verify that the first flight attitude angle is ultimately determined as the critical flight attitude angle at which the radar device fails when the number of times the first flight attitude angle is recorded exceeds the preset threshold.
[0114] In drone radar testing, this attitude simulation device eliminates the need for actual drone flight, avoiding costs associated with drone wear and tear, battery depletion, and accidental damage, reducing testing costs by over 80%. Furthermore, since no airspace application is required, continuous testing can be conducted indoors or at fixed locations, increasing testing efficiency by more than three times. Additionally, the device is unaffected by external factors such as wind and weather, maintaining a stable preset flight attitude angle over extended periods, resulting in excellent data repeatability and a 90% improvement in stability. During testing, there is no risk of drone collisions, avoiding safety hazards to personnel and equipment, achieving a 99% safety rate.
[0115] Example 2
[0116] This embodiment provides a method for simulating the pose of a UAV, which is applied to the attitude simulation device for UAV testing described in Embodiment 1. Figure 9 As shown, the UAV pose simulation method includes the following steps:
[0117] S21. Calculate the target extension length corresponding to each electric cylinder and the target rotation angle corresponding to the rotating platform based on the flight attitude angle of the UAV.
[0118] S22. Control the corresponding electric cylinder to extend and retract according to the target extension length, and control the rotating platform to rotate according to the target rotation angle, so that the test platform moves to the target position corresponding to the UAV's flight attitude.
[0119] In this embodiment, after calculating the target extension length corresponding to each electric cylinder and the target rotation angle corresponding to the rotating platform, the motor in each electric cylinder is controlled to extend or retract the cylinder to the target extension length, and the motor in the rotating platform is controlled to rotate the platform to the target rotation angle. This moves the test platform to the target position corresponding to the UAV's flight attitude, thus realizing the simulation test of the UAV's flight attitude and reducing the cost of using a real UAV. Therefore, the attitude simulation device using this method can be applied to the radar test of UAVs and to the real-time UAV attitude reproduction.
[0120] In one optional implementation, the flight attitude angle includes a preset flight attitude angle or the real-time flight attitude angle of the off-site UAV.
[0121] In one alternative implementation, such as Figure 10 As shown, step S21 specifically includes:
[0122] S211. Obtain the flight attitude angles of the UAV, including pitch angle, roll angle and yaw angle. In this embodiment, based on the mapping relationship between flight attitude angles and mechanical motion, the pitch angle, roll angle, yaw angle and the extension and retraction of the electric cylinder and the rotation of the rotating table can be linked through rotation matrix transformation.
[0123] S212. Obtain the target rotation matrix based on the pitch angle and the roll angle.
[0124] S213. Calculate the target extension length of each electric cylinder based on the target rotation matrix and the initial position of the extension end of each electric cylinder.
[0125] S214. Determine the target rotation angle of the rotating platform based on the yaw angle. In this embodiment, the yaw angle can be converted into radians to obtain the target rotation angle of the rotating platform.
[0126] In this embodiment, the test platform was moved by calculating the target extension length and target rotation angle, so that the test platform was moved to the target position corresponding to the UAV's flight attitude, thus realizing the simulation test of the UAV's flight attitude.
[0127] Optionally, such as Figure 11 As shown, the UAV pose simulation method further includes:
[0128] S23. Obtain the first flight attitude angle; wherein, the radar device identifies the target obstacle when the test platform moves to different target positions according to different flight attitude angles; the first flight attitude angle is the flight attitude angle corresponding to the target obstacle that the radar device cannot identify;
[0129] S24. Determine the critical flight attitude angle at which the radar device cannot identify the target obstacle based on the first flight attitude angle.
[0130] In UAV radar testing, the target obstacle can be placed directly in front of the radar device before the UAV flight attitude simulation begins, ensuring that the radar device can identify the target obstacle from its initial position. In practice, the user sends preset flight attitude angles to the controller, including pitch, roll, and yaw angles. The controller calculates the target extension / retraction length corresponding to each electric cylinder and the target rotation angle corresponding to the rotating platform based on the preset flight attitude angles, and controls the motors of the electric cylinders and the rotating platform to operate simultaneously, causing each electric cylinder to extend / retract the target extension / retraction length and the rotating platform to rotate the target rotation angle. When the test platform moves to the corresponding target position according to the target extension / retraction length and target rotation angle, it is determined whether the radar device can identify the target obstacle at that preset flight attitude angle. Specifically, the radar device determines whether it has identified the target obstacle by analyzing the point cloud recognition status at that preset flight attitude angle.
[0131] Repeat the above steps to gradually approach and traverse the flight attitude angles within the extreme attitude range of the UAV, continuously calculating the point cloud recognition rate data of multiple sets of target obstacles until the radar device can no longer identify the target obstacle at a certain flight attitude angle. Record the flight attitude angle at this simulated attitude as the first flight attitude angle. Based on the first flight attitude angle, determine the critical flight attitude angle at which the radar device can no longer identify the target obstacle.
[0132] In practice, the first flight attitude angle for each flight can be directly determined as the critical flight attitude angle.
[0133] In other embodiments, the first flight attitude angle may be determined as the critical flight attitude angle at which the radar device cannot identify the target obstacle if the number of recorded instances of the first flight attitude angle exceeds a preset threshold. During radar testing, repeated tests are conducted, and if the number of recorded instances of the first flight attitude angle exceeds the preset threshold, the first flight attitude angle is ultimately determined as the critical flight attitude angle at which the radar device fails.
[0134] Example 3
[0135] Figure 12 This is a schematic diagram of the structure of an electronic device shown in this embodiment. The electronic device includes a memory, a processor, and a computer program stored in the memory and used to run on the processor. When the processor executes the computer program, it implements the UAV pose simulation method described in Embodiment 2 above. Figure 12The electronic device 30 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.
[0136] like Figure 12 As shown, the electronic device 30 can be manifested as a general-purpose computing device, such as a server device. The components of the electronic device 30 may include, but are not limited to: at least one processor 31, at least one memory 32, and a bus 33 connecting different system components (including memory 32 and processor 31).
[0137] Bus 33 includes a data bus, an address bus, and a control bus.
[0138] The memory 32 may include volatile memory, such as random access memory (RAM) 321 and / or cache memory 322, and may further include read-only memory (ROM) 323.
[0139] The memory 32 may also include a program tool 325 (or utility) having a set (at least one) program module 324, such program module 324 including but not limited to: an operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.
[0140] The processor 31 executes various functional applications and data processing by running computer programs stored in the memory 32, such as the UAV pose simulation method provided in Embodiment 2 above.
[0141] Electronic device 30 can also communicate with one or more external devices 34 (e.g., keyboard, pointing device, etc.). This communication can be performed via input / output (I / O) interface 35. Furthermore, electronic device 30 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 36. Figure 12 As shown, network adapter 36 communicates with other modules of electronic device 30 via bus 33. It should be understood that, although... Figure 12 Not shown, other hardware and / or software modules may be used in conjunction with electronic device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems.
[0142] It should be noted that although several units / modules or sub-units / modules of the electronic device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.
[0143] Example 4
[0144] This disclosure also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the UAV pose simulation method provided in Embodiment 2 above.
[0145] The readable storage medium may be more specifically adopted, including but not limited to: portable disk, hard disk, random access memory, read-only memory, erasable programmable read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.
[0146] Example 5
[0147] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the UAV pose simulation method described in Embodiment 2 above.
[0148] The program code for executing the computer program product of this disclosure can be written in any combination of one or more programming languages, and the program code can be executed entirely on a user device, partially on a user device, as a stand-alone software package, partially on a user device and partially on a remote device, or entirely on a remote device.
[0149] While specific embodiments of this disclosure have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this disclosure is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this disclosure, but all such changes and modifications fall within the scope of protection of this disclosure.
Claims
1. An attitude simulation device for testing unmanned aerial vehicles (UAVs), characterized in that, The attitude simulation device includes a test platform, multiple electric cylinders, a rotating platform, and a controller; wherein the controller is electrically connected to the multiple electric cylinders and the rotating platform respectively. The telescopic end of the electric cylinder is connected to the test platform, and the fixed end of the electric cylinder is connected to the rotating platform. The controller is used to calculate the target extension length corresponding to each electric cylinder and the target rotation angle corresponding to the rotating platform based on the flight attitude angle of the UAV; and to control the corresponding electric cylinder to extend and retract based on the target extension length, and to control the rotating platform to rotate based on the target rotation angle, so that the test platform moves to the target position corresponding to the flight attitude of the UAV.
2. The attitude simulation device as described in claim 1, characterized in that, The posture simulation device also includes a plurality of first movable joints, each of which corresponds to one of the electric cylinders. The telescopic end of the electric cylinder is connected to the test platform through the first movable joint. The first movable joint is used to passively move when the electric cylinder extends and retracts according to the target extension length, so that the test platform moves to the target position corresponding to the flight attitude of the UAV; And / or, The posture simulation device also includes multiple second movable joints, each of which corresponds to one of the electric cylinders. The fixed end of the electric cylinder is connected to the rotating table through the second movable joint. The second movable joint is used to passively move when the electric cylinder extends or retracts according to the target extension length, so that the test platform moves to the target position corresponding to the flight attitude of the UAV.
3. The attitude simulation device as described in claim 1, characterized in that, The controller specifically includes: The acquisition unit is used to acquire the flight attitude angles of the UAV, including pitch angle, roll angle and yaw angle; A rotation matrix calculation unit is used to obtain the target rotation matrix based on the pitch angle and the roll angle; The target extension length calculation unit is used to calculate the target extension length of each electric cylinder based on the target rotation matrix and the initial position of the extension end of each electric cylinder. The target rotation angle determination unit is used to determine the target rotation angle of the rotating platform based on the yaw angle.
4. The attitude simulation device as described in claim 1, characterized in that, The number of electric cylinders is three.
5. The attitude simulation device as described in claim 1, characterized in that, The attitude simulation device also includes a height lifting mechanism, which is installed below the rotating platform; the height lifting mechanism is used to adjust the height of the rotating platform. And / or, The attitude simulation device also includes a moving device, which is installed below the rotating platform; the moving device is used to move the attitude simulation device.
6. The attitude simulation device as described in claim 1, characterized in that, The attitude simulation device also includes a radar device, which is mounted on the test platform; the radar device is used to identify target obstacles when the test platform moves to different target positions according to different flight attitude angles. The controller is configured to, in response to the radar device being unable to identify the target obstacle at a first flight attitude angle, determine a critical flight attitude angle at which the radar device cannot identify the target obstacle based on the first flight attitude angle.
7. The attitude simulation device as described in any one of claims 1-6, characterized in that, The flight attitude angle includes a preset flight attitude angle or the real-time flight attitude angle of the off-site UAV.
8. A method for simulating the pose of a UAV, characterized in that, Applied in the attitude simulation apparatus for UAV testing as described in any one of claims 1-7, the UAV attitude simulation method includes the following steps: The target extension length corresponding to each electric cylinder and the target rotation angle corresponding to the rotating platform are calculated based on the flight attitude angle of the UAV. The electric cylinder is controlled to extend and retract according to the target extension length, and the rotating platform is controlled to rotate according to the target rotation angle, so that the test platform moves to the target position corresponding to the UAV's flight attitude.
9. The UAV pose simulation method as described in claim 8, characterized in that, The UAV pose simulation method also includes: Obtain a first flight attitude angle; wherein, the radar device identifies target obstacles when the test platform moves to different target positions according to different flight attitude angles; the first flight attitude angle is the flight attitude angle corresponding to the target obstacle that the radar device cannot identify; The critical flight attitude angle at which the radar device cannot identify the target obstacle is determined based on the first flight attitude angle.
10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and for running on the processor, characterized in that, When the processor executes the computer program, it implements the UAV pose simulation method according to claim 8 or 9.
11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the UAV pose simulation method according to claim 8 or 9.
12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the UAV pose simulation method as described in claim 8 or 9.