Task load testing system and method

Abstract

The invention discloses a task load test system and method, and relates to the technical field of aerostats, and a six-degree-of-freedom motion platform of the task load test system is used for providing six-degree-of-freedom attitude simulation for a task load; the load mounting unit is arranged on the six-degree-of-freedom motion platform and is used for mounting task loads; the motion control unit is in signal connection with the six-degree-of-freedom motion platform, and the motion control unit is used for controlling the six-degree-of-freedom motion platform to move according to the posture track data; the data recording unit is used for being in signal connection with the task load, and the data recording unit records load performance data from the task load and carries out time alignment on the load performance data and the attitude track data. According to the task load test system, through cooperation of the six-degree-of-freedom motion platform and the data recording unit, the load performance data and the attitude trajectory data are subjected to accurate time alignment, and the problem that the task load performance under the dynamic attitude cannot be synchronously evaluated in a traditional test is solved.

Description

Technical Field

[0001] This application relates to the field of airship technology, and in particular to a mission load testing system and method. Background Technology

[0002] When tethered aerostats perform missions, their payload equipment is subjected to the combined effects of buoyancy, gravity, wind force, and multiple tethering ropes, necessitating performance evaluation under dynamic attitude conditions. To mitigate the risks of field testing, ground simulation testing becomes essential; however, existing ground methods generally employ static supports, single / double degree-of-freedom swing tables, or high-frequency vibration tables, which can only perform static pointing verification, single-axis reciprocating swing, or vibration and shock resistance assessments, respectively.

[0003] The aforementioned distributed testing method cannot generate low-frequency, large-amplitude six-degree-of-freedom coupled attitudes consistent with actual flight. Due to the distortion of the testing environment, there are significant deviations between the test results and the field measurements in terms of performance indicators such as pointing accuracy, image stabilization, and target tracking. Summary of the Invention

[0004] The purpose of this application is to provide a mission load testing system that, through the collaboration of a six-degree-of-freedom motion platform and a data recording unit, precisely aligns load performance data with attitude trajectory data in time, solving the problem that traditional testing cannot simultaneously evaluate mission load performance under dynamic attitude. Another purpose of this application is to provide a mission load testing method.

[0005] To achieve the above objectives, this application provides a mission load testing system, comprising:

[0006] A six-degree-of-freedom motion platform is used to provide six degrees of freedom for attitude simulation of mission payloads;

[0007] A load mounting unit is disposed on the six-degree-of-freedom motion platform, and the load mounting unit is used to mount the task load;

[0008] A motion control unit is signal-connected to the six-degree-of-freedom motion platform, and the motion control unit is used to control the motion of the six-degree-of-freedom motion platform according to the attitude trajectory data;

[0009] A data recording unit is used to connect to the mission payload signal. The data recording unit records the payload performance data from the mission payload and aligns the payload performance data with the attitude trajectory data in time.

[0010] In some embodiments, the six-degree-of-freedom motion platform is a Stewart platform, which includes:

[0011] Static platform;

[0012] A moving platform is provided for the load mounting unit to be installed;

[0013] Six retractable servo drive chains are connected at both ends to the static platform and the moving platform, respectively. The servo drive chains are controlled by the motion control unit to achieve six degrees of freedom motion.

[0014] In some embodiments, the load mounting unit includes:

[0015] The load mounting bracket is equipped with multiple mounting structures for mounting mission loads;

[0016] An adapter frame connects the six-degree-of-freedom motion platform to the load mounting frame.

[0017] In some embodiments, the adapter frame employs low-frequency vibration isolation elements to attenuate high-frequency vibrations transmitted from the six-degree-of-freedom motion platform to the load mounting frame, thereby making the task load responsive to low-frequency changes; and / or,

[0018] The load mounting unit also includes:

[0019] A low-frequency vibration isolation element is disposed between the adapter frame and the six-degree-of-freedom motion platform, or between the adapter frame and the load mounting frame; the low-frequency vibration isolation element is used to attenuate the high-frequency vibration transmitted from the six-degree-of-freedom motion platform to the load mounting frame, so that the task load responds to low-frequency changes.

[0020] In some embodiments, the system further includes an attitude acquisition unit disposed on the six-degree-of-freedom motion platform. The attitude acquisition unit is used to measure the attitude information and displacement information of the six-degree-of-freedom motion platform in real time, and convert the attitude information and displacement information into a uniform format attitude data stream.

[0021] The data recording unit is also signal-connected to the attitude acquisition unit. The data recording unit records the attitude data stream from the attitude acquisition unit and aligns the load performance data with the attitude data stream in time.

[0022] In some embodiments, the motion control unit is also signal-connected to the attitude acquisition unit, and the motion control unit is used to perform closed-loop control using the real-time feedback from the attitude acquisition unit to perform error correction and trajectory tracking optimization for the motion control of the six-degree-of-freedom motion platform.

[0023] In some embodiments, the data recording unit is configured to achieve time alignment based on the ROS software architecture by applying a unified timestamp to the payload performance data and attitude data stream.

[0024] In some embodiments, the motion control unit includes a trajectory parsing module, which is used to convert flight records into attitude trajectory data, or to calculate and generate attitude trajectory data based on a wind field model and tethering parameters; and / or,

[0025] The mission payload is any one or more combinations of photoelectric cameras, radar equipment, and communication antennas.

[0026] This application also provides a task load testing method applied to the above-mentioned task load testing system, the task load testing method comprising:

[0027] Step S1: Obtain the attitude trajectory data of the airship;

[0028] Step S2: Install the task payload onto the payload mounting frame mounted on the six-degree-of-freedom motion platform;

[0029] Step S3: Based on the attitude trajectory data, control the movement of the six-degree-of-freedom motion platform to simulate the dynamic attitude of the airship;

[0030] Step S4: During the motion of the six-degree-of-freedom motion platform, operate the task load and synchronously record the load performance data of the task load;

[0031] Step S5: Time-align the recorded load performance data with the attitude trajectory data to analyze the performance of the task load under dynamic attitude.

[0032] In some embodiments, the task load testing method further includes:

[0033] Step S6: The attitude information is measured in real time by the attitude acquisition unit set on the six-degree-of-freedom motion platform to generate an attitude data stream;

[0034] Step S1, the step of acquiring the attitude trajectory data of the aerostat, includes at least one of the following steps:

[0035] Step S101: Acquire flight records collected by sensors installed on the airship, and convert the flight records into attitude trajectory data;

[0036] Step S102: Based on the wind field model and mooring parameters of the airship, generate attitude trajectory data through simulation calculation and solution;

[0037] Step S3, the step of controlling the motion of the six-degree-of-freedom motion platform, includes:

[0038] Step S301: Perform inverse kinematics calculation on the attitude trajectory data to generate control commands for driving the six-degree-of-freedom motion platform;

[0039] Step S302: Utilize the real-time feedback from the attitude acquisition unit to perform closed-loop control, thereby correcting errors and optimizing trajectory tracking of the motion of the six-degree-of-freedom motion platform.

[0040] Step S4, which involves simultaneously recording the load performance data of the task payload, includes:

[0041] Simultaneously record the load performance data of the task payload and the attitude data stream generated by the attitude acquisition unit;

[0042] Step S5, the step of aligning the recorded load performance data with the attitude trajectory data in time, includes:

[0043] The attitude data stream and the payload performance data are given a unified timestamp through the ROS software architecture;

[0044] Step S5, the step for analyzing the performance of the mission payload under dynamic attitude, includes at least one of the following steps:

[0045] Based on time-aligned data, the pointing accuracy of the task payload is analyzed;

[0046] Based on time-aligned data, the image stability of the task payload is analyzed;

[0047] The target tracking algorithm for the task payload is validated or trained based on time-aligned data.

[0048] Compared to the aforementioned background technology, the task load testing system provided in this application mainly includes a six-degree-of-freedom motion platform, a load mounting unit, a motion control unit, and a data recording unit. The six-degree-of-freedom motion platform is used to provide six degrees of freedom attitude simulation for the task load. The load mounting unit is set on the six-degree-of-freedom motion platform and is used to mount the task load. The motion control unit is signal-connected to the six-degree-of-freedom motion platform and is used to control the movement of the six-degree-of-freedom motion platform according to the attitude trajectory data. The data recording unit is signal-connected to the task load and records the load performance data from the task load, and aligns the load performance data with the attitude trajectory data in time.

[0049] In existing technologies, traditional testing fixes the load on a rigid support or a single-axis turntable, which can only obtain static calibration results and cannot reproduce the instantaneous disturbances of the airship coupled with six degrees of freedom in a wind field. Even when using a multi-axis stage, motion data and load output are recorded by different devices, and the time reference is inconsistent, which leads to "seeing image jumps but not finding the corresponding attitude" when comparing them later. The evaluation can only be guessed based on experience and cannot quantify dynamic performance.

[0050] This application uses a six-degree-of-freedom motion platform to simultaneously reproduce all coupled motions of roll, pitch, yaw, heave, sway, and swing, allowing the mission payload to experience dynamic conditions completely equivalent to those in the air while on the ground. At the same time, the data recording unit stores the platform's attitude trajectory and payload performance data aligned on the same time axis, so that any image jitter, pointing deviation, or power consumption peak can be accurately mapped to the corresponding attitude disturbance moment. This allows the impact of dynamic attitude on payload performance to be reproduced and quantified on the ground, completely solving the fundamental defect of traditional testing that cannot simultaneously evaluate dynamic performance.

[0051] Based on the above structural and process descriptions, it can be seen that the task load testing system has at least the following beneficial effects: by coordinating the six-degree-of-freedom motion platform and the data recording unit, the load performance data and attitude trajectory data are precisely time-aligned, solving the problem that traditional tests cannot simultaneously evaluate the task load performance under dynamic attitude. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0053] Figure 1 A schematic diagram of the task load testing system provided in the embodiments of this application;

[0054] Figure 2 A diagram illustrating the relationship between the task load testing system provided in this application embodiment.

[0055] in:

[0056] The system includes: a task load testing system 100; a six-degree-of-freedom motion platform 1; a static platform 11; a moving platform 12; a servo drive chain 13; a load mounting unit 2; a load mounting bracket 21; an adapter bracket 22; a motion control unit 3; a data recording unit 4; and an attitude acquisition unit 5.

[0057] Mission payload 01, payload equipment 011, pod 012. Detailed Implementation

[0058] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0059] In real-world working environments, tethered aerostats (such as tethered airships and balloons) are subjected to a complex, time-varying influence from multiple factors, including buoyancy, gravity, wind force, and the combined tension of multiple tethering ropes. This results in continuous and irregular changes in their attitude in three-dimensional space, exhibiting typical nonlinear dynamic characteristics.

[0060] This unconstrained random attitude motion presents a significant challenge to ground-based performance testing of load equipment.

[0061] 1. Distortion of the test environment: In actual operation, the payload equipment (such as directional radar, optoelectronic pods, communication antennas, etc.) is mounted on a moving base platform. Traditional ground static test benches cannot reproduce this "base in motion" coupling effect.

[0062] 2. Difficulty in performance evaluation: The core performance characteristics of the payload, such as vibration tolerance, pointing accuracy under dynamic conditions, image stabilization during motion, and target tracking capability, are all closely related to the attitude and motion of the platform on which it is mounted. Without precise and controllable attitude simulation, it is impossible to accurately evaluate the payload's true performance in actual use environments.

[0063] The following methods are commonly used for load testing of tethered airships.

[0064] 1. Use a static platform for testing.

[0065] Using fixed brackets or simple support frames, load devices such as photoelectric cameras and radar antennas are directly mounted on a rigid support structure. By manually changing the installation angle or slowly rotating the bracket, the field of view and some working postures of the equipment can be verified.

[0066] The limitations are that it only provides a limited degree of freedom for attitude adjustment, and in most cases, it can only make coarse angle adjustments around one or two axes. It cannot simulate the continuous, dynamic, and multi-axis coupled attitude changes of a flight platform under wind disturbances. Its testing content is mostly focused on static imaging quality, beam pointing accuracy, and basic field-of-view coverage, with very limited evaluation of the equipment's performance in dynamic environments.

[0067] 2. Use a simple rocking table for testing.

[0068] Single-degree-of-freedom or two-degree-of-freedom turntables are used to track and test the stability of photoelectric loads. These turntables are mostly derived from optical aiming equipment or seeker test platforms, and can provide two degrees of freedom of rotation: pitch and azimuth. They can also achieve uniform scanning or simple periodic reciprocating motion at a set rate.

[0069] The drawback is that the simulated dynamic environment still differs significantly from the overall motion state of a tethered aerostat under airflow. Furthermore, the swing platform has a limited rated load, often failing to meet the load-bearing requirements when installing large radar antennas or combinations of multiple devices.

[0070] 3. Use a conventional vibration testing platform for testing.

[0071] Develop a transfer fixture to fix the load on the fixture and apply high-frequency vibration or short-term impact to the vibration table to test the equipment's vibration and impact resistance.

[0072] The drawback is that the vibration table is mainly designed for high-frequency, small-displacement conditions. Its operating frequency band and motion pattern are fundamentally different from the low-frequency, large-amplitude attitude changes exhibited by tethered aerostats in wind fields. Therefore, it is not suitable for evaluating the imaging quality and measurement accuracy of equipment carried by tethered aerostats under typical flight attitude changes.

[0073] 4. Fusion test.

[0074] The above three tests were conducted in sequence to test the load performance of the airship.

[0075] The drawbacks are that it requires a large number of tests, frequent disassembly of equipment, and wastes testing resources.

[0076] Therefore, although the aforementioned existing technologies have promoted the ground verification of equipment carried by tethered aerostats to some extent, their inherent shortcomings are becoming increasingly prominent as tethered aerostat mission scenarios expand to all-weather, long-endurance, and complex wind field environments. Firstly, in terms of attitude simulation capabilities, the degrees of freedom of existing fixed supports, turntables, or vibration tables are significantly insufficient. They typically only allow motion on one or two rotation axes, failing to realistically reproduce the six-degree-of-freedom coupled motion of tethered aerostats under wind direction changes, gust disturbances, and the effects of the tethering system. This lack of freedom leads to significant differences between ground tests and actual flight conditions. Equipment that performs well in tests may still experience increased pointing errors, blurred images, and decreased radar beam stability in actual missions, thus affecting mission completion quality.

[0077] In summary, most existing test schemes are developed for specific types of equipment or localized problems under specific circumstances, lacking a unified systematic design. They either only provide static or low-degree-of-freedom attitude simulation, and have not yet formed an integrated ground simulation test system specifically for tethered airship platforms that can also handle six-degree-of-freedom attitude reproduction, multi-sensor payload mounting, and synchronous attitude data recording.

[0078] To address at least one of the aforementioned problems, this application provides a mission load testing system 100 and method, aiming to overcome a key challenge: how to faithfully add and reproduce the "attitude constraints" and "dynamic motion" experienced by a tethered airship and its load during actual flight in a ground testing environment. This is not merely about providing a "motion," but about constructing a controlled, physically adjustable "constraint-motion" coupled system.

[0079] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0080] Please refer to Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the task load testing system provided in an embodiment of this application. Figure 2 A diagram illustrating the relationship between the task load testing system provided in this application embodiment.

[0081] In a first specific embodiment, the task load testing system 100 provided by this application mainly includes a six-degree-of-freedom motion platform 1, a load mounting unit 2, a motion control unit 3, and a data recording unit 4. The six-degree-of-freedom motion platform 1 is used to provide six degrees of freedom attitude simulation for the task load 01. The load mounting unit 2 is disposed on the six-degree-of-freedom motion platform 1 and is used to mount the task load 01. The motion control unit 3 is signal-connected to the six-degree-of-freedom motion platform 1 and is used to control the movement of the six-degree-of-freedom motion platform 1 according to the attitude trajectory data. The data recording unit 4 is signal-connected to the task load 01 and records the load performance data from the task load 01, and aligns the load performance data with the attitude trajectory data in time.

[0082] In existing technologies, traditional testing fixes the load on a rigid support or a single-axis turntable, which can only obtain static calibration results and cannot reproduce the instantaneous disturbances of the airship coupled with six degrees of freedom in a wind field. Even when using a multi-axis stage, motion data and load output are recorded by different devices, and the time reference is inconsistent, which leads to "seeing image jumps but not finding the corresponding attitude" when comparing them later. The evaluation can only be guessed based on experience and cannot quantify dynamic performance.

[0083] This application uses a six-degree-of-freedom motion platform 1 to simultaneously reproduce all coupled motions of roll, pitch, yaw, heave, sway, and swing, allowing the mission payload 01 to experience dynamic conditions completely equivalent to those in the air while on the ground. At the same time, the data recording unit 4 stores the platform attitude trajectory and payload performance data aligned on the same time axis, so that any image jitter, pointing deviation, or power consumption peak can be accurately mapped to the corresponding attitude disturbance moment. Thus, the impact of dynamic attitude on the payload's working quality can be reproduced and quantified on the ground, completely solving the fundamental defect of traditional tests that cannot simultaneously evaluate dynamic performance.

[0084] Based on the above structural and process descriptions, it can be seen that the task load testing system 100 has at least the following beneficial effects: by coordinating the six-degree-of-freedom motion platform 1 and the data recording unit 4, the load performance data and attitude trajectory data are precisely time-aligned, solving the problem that traditional tests cannot simultaneously evaluate the performance of the task load 01 under dynamic attitude.

[0085] It should be noted that the attitude trajectory data should correspond to the attitude trajectory changes of the airship over time, specifically the attitude changes in the operating trajectory.

[0086] In some cases, the mission payload 01 includes payload equipment 011 and pod 012, with pod 012 directly mounted on the payload mounting unit 2 and payload equipment 011 typically mounted on the bottom of pod 012.

[0087] It should be noted that this embodiment does not limit the implementation method of the six-degree-of-freedom motion platform 1. It includes various parallel or serial robot mechanisms capable of six-degree-of-freedom motion, such as the Stewart platform (6-SPS parallel mechanism). Examples include six-degree-of-freedom serial robotic arms particularly suitable for scenarios with lighter loads and specific motion range requirements, and parallel platform variants such as 3-RPS and 6-UPS that provide the required six degrees of freedom, sufficient load-bearing capacity, and motion accuracy. These should also fall within the scope of this embodiment. The key point is that the mechanism must possess six-degree-of-freedom motion capability and high dynamic response accuracy to reproduce the low-frequency, large-amplitude movements of the levitation device.

[0088] In some embodiments, the six-degree-of-freedom motion platform 1 is a Stewart platform, which includes:

[0089] Static Platform 11;

[0090] The moving platform 12 is used to house the load mounting unit 2;

[0091] Six retractable servo drive chains 13 are connected at both ends to the static platform 11 and the moving platform 12 respectively. The servo drive chains 13 are controlled by the motion control unit 3 to achieve six degrees of freedom motion.

[0092] In this embodiment, the six-degree-of-freedom motion platform 1 is specifically defined as a Stewart platform, which consists of a static platform 11, a moving platform 12, and six retractable servo drive branches 13, forming a compact and rigid parallel mechanism.

[0093] The static platform 11 serves as a fixed base, permanently installed on the foundation or load-bearing platform of the experimental site, providing stable support for the entire system. The moving platform 12 is used to support the load installation unit 2 and drive the task load 01 to achieve six degrees of freedom motion in space. Six servo drive chains 13 are connected to the static platform 11 and the moving platform 12 respectively through ball joints or universal joints, forming a closed kinematic chain. Under the coordinated control of the motion control unit 3, each chain extends and retracts independently, working together to generate the roll, pitch, yaw, heave, sway, and sway motions required by the moving platform 12.

[0094] This structure utilizes the high rigidity, high dynamic response, and high load capacity of the parallel mechanism to enable the mission payload 01 to accurately reproduce the multi-degree-of-freedom coupled oscillation of the airship in a complex wind field on the ground, providing high-fidelity motion input for subsequent dynamic performance testing.

[0095] In some situations, the Stewart platform is capable of withstanding loads exceeding 500 kg and can achieve 6 degrees of freedom motion (pitch, roll, yaw, and X, Y, and Z directions) depending on the settings. It supports low-frequency attitude changes. The platform's motion stroke and angle range are specifically optimized according to the typical dynamic characteristics of airship platforms, enabling it to cover the attitude change range of airships under conditions such as changes in external wind direction, gust impacts, and tethered swaying.

[0096] In some embodiments, the load mounting unit 2 includes:

[0097] The load mounting bracket 21 is provided with multiple mounting structures for mounting the mission load 01;

[0098] The adapter frame 22 is connected between the six-degree-of-freedom motion platform 1 and the load mounting frame 21.

[0099] In this embodiment, the load mounting unit 2 adopts a two-section structure of "load mounting frame 21 + adapter frame 22", which transforms the rigid connection between the task load 01 and the six-degree-of-freedom motion platform 1 into an adaptable and scalable modular interface.

[0100] The multiple mounting structures (such as standard mounting slots and fixing points, threaded holes, positioning pins, T-slots, etc.) reserved on the load mounting bracket 21 allow for the quick fixing of task loads 01 of different sizes and interface standards, enabling a single platform to be compatible with a variety of optoelectronic cameras, radars or communication antennas, without the need to design a separate transition plate for each load, significantly shortening the test preparation cycle.

[0101] The adapter frame 22 is located between the moving platform 12 and the load mounting frame 21. It serves as both a geometric dimension converter and a force flow buffer. The thickness of its upper and lower mounting surfaces can be customized according to the height difference of the center of gravity of the task load 01, so that the center of gravity of the load is as close as possible to the rotation center of the platform, reducing the moment of inertia and lowering the peak value of the branch driving force. At the same time, the side walls of the adapter frame 22 can be processed with reinforcing ribs or hollow grids to achieve the optimal balance between weight and stiffness, and avoid excessive additional mass that would weaken the dynamic response of the platform.

[0102] Through the layered design of "transfer frame 22 + load mounting frame 21", the system achieves comprehensive benefits such as standardized load interface, adjustable center of mass position and tool-based maintenance and disassembly while ensuring structural strength, laying the hardware foundation for rapid iterative testing of high-frequency, multi-model task load 01.

[0103] In some cases, the adapter frame 22 is a profile structure, such as an aluminum alloy profile, which mainly connects the six-degree-of-freedom motion platform 1 and the load mounting frame 21, and plays a role in load-bearing and connecting. The adapter frame 22 and the six-degree-of-freedom motion platform 1 are rigidly fixed, and the connection point is fastened with multiple bolts and nuts to ensure that the changes in the platform's attitude can be transmitted completely and without attenuation to the profile frame (load mounting frame 21) and the sensor equipment (load equipment 011) mounted on it.

[0104] The load mounting frame 21 is also a profile structure, such as aluminum alloy profiles, mainly replicating the actual hoisting and installation scenario of the load under test, forming a spatial skeleton that approximates a "cubic frame". It provides a lightweight, high-strength, and highly scalable structural foundation for the entire testing system, while enabling rapid installation, replacement, and repositioning of equipment, thereby meeting the sensor combination and arrangement requirements under different experimental scenarios.

[0105] It should be noted that, for connection methods, in addition to rigid fastening with bolts and nuts, for scenarios requiring quick disassembly, a high-precision quick-change interface or locking device can be designed, but it is necessary to ensure that the connection rigidity meets the attitude transmission requirements.

[0106] In some embodiments, the adapter 22 employs a low-frequency vibration isolation element, which is used to attenuate the high-frequency vibration transmitted from the six-degree-of-freedom motion platform 1 to the load mounting frame 21, so that the task load 01 responds to low-frequency changes.

[0107] In this embodiment, the adapter frame 22 itself is given a low-frequency vibration isolation function: its main material or sandwich structure adopts low-frequency vibration isolation elements (such as viscoelastic damping layer, metal rubber, airbag-spring composite unit), forming a mechanical filtering channel of "high frequency cut-off and low frequency passage" between the six-degree-of-freedom motion platform 1 and the load mounting frame 21.

[0108] When the platform generates high-frequency vibrations of several hertz or higher due to rapid extension and contraction of the servo chain, cogging effect of the motor, or structural resonance, the vibration isolation element converts the vibration energy into heat energy dissipation through internal friction, molecular chain slippage, or gas throttling, significantly reducing the amplitude; while low-frequency motion commands below the cutoff frequency (simulating the slow swaying of the airship) are transmitted to the load mounting frame 21 with almost no attenuation, ensuring that the mission load 01 still senses the desired low-frequency attitude change.

[0109] This design avoids high-frequency excitation amplification of internal gyroscope noise, camera rolling shutter effect, or radar phase jitter, while retaining the platform's high-fidelity reproduction capability of low-frequency trajectories. This allows dynamic test data to more realistically reflect in-flight conditions and provides a clean vibration environment for subsequent evaluation of indicators such as pointing accuracy and image stability.

[0110] In some embodiments, the load mounting unit 2 further includes:

[0111] Low-frequency vibration isolation elements are installed between the adapter frame 22 and the six-degree-of-freedom motion platform 1, or between the adapter frame 22 and the load mounting frame 21. The low-frequency vibration isolation elements are used to attenuate the high-frequency vibrations transmitted from the six-degree-of-freedom motion platform 1 to the load mounting frame 21, so that the task load 01 responds to low-frequency changes.

[0112] In this embodiment, the load mounting unit 2 further introduces an independent low-frequency vibration isolation element and embeds it between the adapter frame 22 and the six-degree-of-freedom motion platform 1, or between the adapter frame 22 and the load mounting frame 21, in the form of a "vibration isolation pad".

[0113] The component can be made of metal rubber, high-damping silicone rubber, or steel wire rope springs. Its stiffness and damping parameters are jointly calibrated based on the platform's highest operating frequency and the acceptable vibration level of the load. When the platform vibrates above the cutoff frequency due to branch reversal, motor tooth cogging, or structural mode excitation, the vibration isolation component converts mechanical energy into heat energy dissipation through molecular chain slippage, interface friction, or micro-slippage of the steel wire bundle, significantly attenuating the amplitude. For low-frequency trajectory commands below the cutoff frequency, the component maintains high stiffness to ensure that the mission load 01 reproduces the slow swaying of the airship.

[0114] By separating the vibration isolation function from the main body of the adapter frame 22, the system can quickly replace vibration isolation elements with different stiffness or damping without changing the main structure, so as to achieve on-demand matching of vibration isolation characteristics when "one machine is used for multiple loads". This not only suppresses the impact of high-frequency jitter on the image stability of the photoelectric camera, but also avoids low-frequency signal loss and ensures high fidelity of dynamic test data.

[0115] As an option, the low-frequency vibration isolation element uses flexible damping pads, which can effectively filter the high-frequency vibrations generated by the six-degree-of-freedom motion platform 1, so that the sensor equipment mainly responds to low-frequency attitude changes, thereby more realistically simulating the dynamic characteristics of the airship under the action of the wind field.

[0116] It should be noted that for the vibration damping design of the adapter frame 22, in addition to using flexible damping pads, more complex vibration damping / isolation devices such as air springs, dampers, and active vibration isolation systems can be used to achieve more precise filtering and control of vibrations in different frequency bands.

[0117] In some embodiments, the system further includes an attitude acquisition unit 5, which is disposed on the six-degree-of-freedom motion platform 1. The attitude acquisition unit 5 is used to measure the attitude information and displacement information of the six-degree-of-freedom motion platform 1 in real time, and convert the attitude information and displacement information into a uniform format attitude data stream.

[0118] The data recording unit 4 is also connected to the attitude acquisition unit 5. The data recording unit 4 records the attitude data stream from the attitude acquisition unit 5 and aligns the load performance data with the attitude data stream in time.

[0119] In this embodiment, the attitude acquisition unit 5 is fixed to the moving platform 12 of the six-degree-of-freedom motion platform 1, synchronously acquires the attitude angle and displacement of the platform, and encapsulates them into a uniformly formatted attitude data stream; the data recording unit 4 receives the data stream and the load performance data of the task payload 01 in real time, and completes the aligned storage with the same timestamp, so that each degree of freedom change of the platform corresponds one-to-one with each performance parameter of the payload, providing a precise and synchronized composite dataset for subsequent dynamic performance analysis.

[0120] It should be noted that this embodiment does not limit the specific form of the attitude acquisition unit 5, such as a high-precision inertial measurement unit (IMU), displacement sensor (such as laser rangefinder or magnetic ruler), etc., which should also be within the scope of this embodiment.

[0121] In some embodiments, the motion control unit 3 is also signal-connected to the attitude acquisition unit 5. The motion control unit 3 is used to perform closed-loop control using the real-time feedback from the attitude acquisition unit 5 to perform error correction and trajectory tracking optimization for the motion control of the six-degree-of-freedom motion platform 1.

[0122] In this embodiment, the motion control unit 3 and the attitude acquisition unit 5 establish a real-time signal link, and compare the actual attitude-displacement data of the platform with the expected trajectory at high speed to obtain the instantaneous error. After the error is calculated by the closed-loop algorithm, the extension speed and torque of each servo drive branch 13 are immediately corrected, so that the platform can offset the deviation and return to the predetermined trajectory in the next control cycle. Through continuous "measurement-feedback-correction" cycle, the system suppresses the trajectory drift caused by external disturbances, mechanical backlash and load inertia within the range of milliseconds and milliradians, ensuring that the dynamic environment subjected to by the mission payload 01 is highly consistent with the actual flight attitude sequence of the airship, providing repeatable and traceable high-fidelity motion input for subsequent performance evaluation.

[0123] In some cases, the attitude acquisition unit 5, through attitude sensors (inertial measurement units) mounted on the six-degree-of-freedom motion platform 1, measures the attitude and displacement information of the motion platform in pitch, roll, yaw, and the X, Y, and Z directions in real time, and converts it into a unified format attitude data stream. The motion control unit 3 receives pre-set attitude trajectory commands (attitude trajectory data), which can be data from actual tethered airship flight test records. Through kinematic and inverse kinematic calculations, it converts the desired attitude into target length or angle commands for the six servo drive chains 13, ultimately acting on the six-degree-of-freedom motion platform 1 via servo motors. To improve the accuracy of attitude reproduction, the motion control unit 3 utilizes the real-time feedback from the attitude acquisition unit 5 for closed-loop control, performing error correction and trajectory tracking optimization for the platform motion.

[0124] It should be noted that a six-degree-of-freedom motion platform 1 that supports external trajectory input can be used, or a trajectory analysis module can be set in the motion control unit 3 to obtain attitude trajectory data for controlling the motion of the six-degree-of-freedom motion platform 1.

[0125] In some embodiments, the motion control unit 3 is provided with a trajectory analysis module, which is used to convert flight records into attitude trajectory data, or to calculate and generate attitude trajectory data based on wind field models and tethering parameters.

[0126] In this embodiment, the attitude trajectory data comes from multiple sources. One is the flight record measured by the airship. The trajectory analysis module decodes, filters, and extracts the attitude sequence that changes over time, and directly converts it into attitude trajectory data that the platform can execute. The other is given a wind field model and mooring cable parameters. The module quickly calculates the time domain response of the airship in the corresponding environment through dynamic simulation and generates equivalent attitude trajectory data.

[0127] Therefore, the system can directly use data collected during actual flights to reproduce historical operating conditions that were actually flown; it can also verify extreme operating conditions that may be encountered in advance, providing high-fidelity motion input covering the entire mission profile for mission payload 01, significantly expanding the boundaries and depth of ground testing.

[0128] For example, by using a high-fidelity flight dynamics simulation model, inputting wind field models, tethering parameters, etc., the attitude motion data of the airship can be generated in real time to drive the platform's motion, realizing "digital twin" testing, or preset typical motion spectra or fault modes, such as standardized turbulence spectra, specific fault swing modes, etc., for standard compliance testing or reliability verification.

[0129] In some embodiments, the data recording unit 4 is configured to achieve time alignment based on the ROS software architecture by stamping the load performance data and attitude data stream with a unified timestamp.

[0130] In this embodiment, the data recording unit 4 uses the ROS software architecture as its underlying framework, and adds the same timestamp to the load performance data and attitude data streams entering the system. The two stamped messages are written to the same bag file or memory queue, achieving millisecond-level alignment. During subsequent playback or analysis, the platform motion and load response at any given moment can be accurately matched by searching by timestamp, eliminating timing deviations caused by heterogeneous devices and different sampling frequencies, and providing a highly reliable synchronous data foundation for dynamic performance quantification.

[0131] In some embodiments, the mission payload 01 is any one or more combinations of an optoelectronic camera, a radar device, and a communication antenna.

[0132] In this embodiment, the photoelectric camera can output high-definition visible light / infrared video streams to verify dynamic pointing accuracy and image stability; the radar equipment provides signals such as echo intensity and Doppler frequency shift to facilitate the evaluation of the impact of platform sway on detection performance; and the communication antenna records gain, pointing error, and link signal-to-noise ratio in real time to assess beam tracking capability under high dynamic conditions.

[0133] Optionally, pod 012 is the installation location for the actual load under test (mission load 01); the load under test can be equipment such as multi-light cameras, directional radar, directional base stations, etc.; different types of load equipment such as gimbals, cameras, and radar antennas can be installed at the bottom of pod 012.

[0134] In some cases, based on the ROS software architecture, various data sources (including attitude data streams, load performance data, etc.) are unified into a single time synchronization framework. Attitude acquisition unit 5 publishes real-time attitude information in the form of ROS topics (e.g., the gimbal control module publishes the current angle status of the gimbal, the image acquisition node outputs timestamped image frames, and the radar acquisition node outputs timestamped radar echoes or processed target data). Data recording unit 4 subscribes to these topics, performs time alignment and fusion packaging of heterogeneous data from different sources based on the system's unified time reference, and stores it in a structured manner according to test number, time sequence, and operating parameters. Through this design, there is a clear one-to-one correspondence between the tethered aerostat attitude at each moment and the load output, which facilitates subsequent quantitative analysis of equipment performance and allows algorithm developers to build datasets with precise attitude annotations.

[0135] It should be noted that, for data synchronization and acquisition architecture, besides ROS-based software architectures, other mature real-time communication and middleware frameworks can also be used to achieve time synchronization and data fusion. For example, hardware time synchronization networks based on the IEEE 1588 (PTP) protocol can be combined with real-time systems such as LabVIEW RT and RTX; or the DDS (Data Distribution Service) middleware can be used, which inherently possesses strong real-time performance, reliability, and QoS policies. The key point is to establish a reliable and accurate unified time base capable of time alignment and centralized recording of multi-source heterogeneous data.

[0136] In one specific implementation, the mission load testing system 100 provided in this application is equivalent to a tethered airship load simulation testing system, constructing a fully integrated, six-degree-of-freedom, high-fidelity, and synchronously recordable tethered airship load ground simulation testing system. Through this system, the attitude change process of the airship platform under complex wind field conditions can be simulated indoors, avoiding the high risks and uncontrollability of real field tests, while significantly improving test efficiency and data quality.

[0137] like Figure 2 As shown, the mission load test system 100 is constructed as a comprehensive test platform consisting of a progressively stacked "motion layer, structure layer, load layer, perception layer, control layer, and recording layer".

[0138] The six-degree-of-freedom motion platform 1 corresponds to the motion layer, the load installation unit 2 corresponds to the structural layer, the mission load 01 corresponds to the load layer, the attitude acquisition unit 5 corresponds to the perception layer, the motion control unit 3 corresponds to the control layer, and the data recording unit 4 corresponds to the recording layer. These components are coupled through mechanical connections, electrical interfaces, and software communication to achieve unified coordination of motion control, attitude perception, and multi-source data acquisition. This allows for the construction of an experimental system in a ground environment capable of high-fidelity reproduction of airship attitude changes and comprehensive testing of various loads.

[0139] Through this layered structural design of "motion platform (six-degree-of-freedom motion platform 1) + spatial frame (load mounting unit 2)," the complex kinematics and load arrangement problems are decoupled: the six-degree-of-freedom motion platform 1 focuses on providing high-precision attitude changes, while the profile frame focuses on providing flexible, safe, and expandable load mounting space.

[0140] In terms of overall operation, the system typically follows a closed-loop process of "trajectory setting—platform movement—payload operation—data acquisition—result analysis." Before the test begins, the user selects a previously collected flight attitude trajectory of the tethered aerostat based on the test objective, such as simulating the aerostat's oscillation process under typical wind conditions or reproducing a real flight attitude sequence from a historical mission. The motion control unit 3 loads this trajectory and drives the six-degree-of-freedom motion platform 1 to perform attitude changes sequentially over time. The payload mounting frame 21 and its payload equipment move together with the platform, creating a dynamic environment similar to the actual operating conditions of the aerostat. During the test, the attitude acquisition unit 5 and data recording unit 4 continuously operate, synchronously acquiring and storing the platform's attitude and multi-source sensor outputs in real time. After the test, by analyzing the acquired data, the performance indicators of the payload equipment under different attitude conditions, such as pointing stability, measurement accuracy, and anti-disturbance capability, can be evaluated from multiple dimensions, and related algorithms can be trained and validated.

[0141] Through the synergy of the overall system structure and working ideas described above, the ground simulation test system for tethered airship payload equipment proposed in this application realizes the integrated design of the entire chain from mechanical motion, load arrangement, attitude perception to data recording. It can controllably and repeatedly reproduce complex field attitude conditions in the ground environment, providing a unified and reliable experimental platform for the research and development and verification of tethered airship payload equipment.

[0142] In one specific implementation, the usage process of the task load testing system 100 is described as follows.

[0143] 1. Place the data acquisition equipment on the tethered aerostat to collect attitude change data of the aerostat under different weather conditions or search the historical database for use.

[0144] 2. The data is processed and analyzed, filtering out useless data (data with almost no change in attitude). The processed data is then imported into the motion control unit 3. The trajectory analysis module converts the flight record into an attitude curve that the platform can execute, enabling ground reproduction of the actual flight process. This allows the system to execute not only manually designed typical oscillation trajectories, such as sine waves, triangular waves, and random disturbance sequences, but also attitude data collected in actual flight missions, achieving seamless switching from simulation testing to real-world playback.

[0145] 3. Fix the adapter frame 22 and the load mounting frame 21.

[0146] 4. Install the pod 012 and the load to be tested (load device 011), and after static debugging is successful, conduct dynamic ground simulation test.

[0147] Compared with existing technologies, the core technical problem this application aims to solve is: how to construct a motion platform in a ground environment capable of high-precision six-degree-of-freedom reproduction based on real tethered aerostat flight attitude data, while simultaneously considering large load capacity and structural stability. Furthermore, how to establish a unified attitude acquisition and data synchronization mechanism on this basis, enabling the platform attitude, gimbal angle, and various sensor outputs to be acquired and recorded under a unified time reference. This provides a controllable, repeatable, and standardized comprehensive ground simulation test system for performance evaluation, algorithm verification, and parameter optimization of tethered aerostat payload equipment in complex dynamic environments. In other words, this application aims to overcome the deficiencies of existing technologies in terms of degrees of freedom, controllability, load adaptation, and data synchronization through a system integration design specifically designed for tethered aerostat applications. It addresses the technical problems of existing testing methods being unable to reproduce tethered aerostat attitude changes with high fidelity and unable to systematically examine the performance of payloads under dynamic attitude conditions.

[0148] Therefore, the mission load testing system 100 has the following key features.

[0149] 1. Deep integration of a six-degree-of-freedom motion platform with real flight attitude data.

[0150] The six-degree-of-freedom motion platform 1 with Stewart structure is used as the core motion actuator. It can not only simulate the three rotational degrees of freedom of pitch, roll and yaw, but also the three translational degrees of freedom of X, Y and Z, and fully reproduce the six-degree-of-freedom coupled nonlinear dynamics of the tethered airship in the wind field.

[0151] By setting the trajectory analysis module in the motion control unit 3, or by importing attitude trajectory data recorded from actual tethered airship flight tests into the platform control system, the platform can be driven to reproduce complex motion sequences in actual flight with high precision. This achieves a leap from "preset simple motion mode" to "real working condition playback", greatly improving the environmental fidelity of ground testing.

[0152] 2. Layered modular mechanical structure design.

[0153] The system adopts a layered architecture consisting of "motion layer (six-degree-of-freedom motion platform 1) - structural layer (transfer frame 22) - load layer (load mounting frame 21)".

[0154] The adapter frame 22 combines rigid connection with flexible damping (such as damping pads), which not only ensures the complete transmission of the platform's motion attitude, but also filters out the platform's own high-frequency mechanical vibration, so that the load mainly bears the simulated low-frequency attitude changes, which is closer to the real dynamic characteristics of the airship.

[0155] The load mounting bracket 21 adopts a standardized and modular aluminum profile frame structure, providing high-strength, lightweight and highly scalable installation space. It supports the rapid installation, combination and position adjustment of various types and sizes of loads, solving the problems of limited load-bearing capacity and poor adaptability of traditional platforms.

[0156] 3. A mechanism for synchronous acquisition and recording of multi-source heterogeneous data based on a unified time benchmark.

[0157] The system integrates an attitude acquisition unit 5 (such as an IMU) to measure and publish the platform's motion attitude in real time.

[0158] A unified time synchronization framework is built using a software architecture based on ROS (Robot Operating System). Multi-source heterogeneous data, including platform posture data, gimbal control signals, image sensor data, and radar data, are published in the form of topics with unified timestamps.

[0159] Data recording unit 4 is responsible for subscribing to and time-aligning these data to achieve a precise one-to-one correspondence between attitude and load output data, providing a reliable data foundation for subsequent quantitative performance analysis, algorithm verification, and the construction of labeled datasets.

[0160] 4. The system integration approach of "perception-control-recording" closed loop.

[0161] By systematically integrating motion control (based on real trajectories), real-time attitude sensing (IMU feedback), and synchronous recording of multi-source data, a comprehensive testing closed loop that is controllable, repeatable, and standardized is formed. This not only achieves high-fidelity motion reproduction but also ensures the data integrity and analyzability of the testing process.

[0162] This application also provides a task load testing method, applied to the aforementioned task load testing system 100, the task load testing method comprising:

[0163] Step S1: Obtain the attitude trajectory data of the airship;

[0164] Step S2: Install the task payload 01 onto the payload mounting frame 21 mounted on the six-degree-of-freedom motion platform 1;

[0165] Step S3: Based on the attitude trajectory data, control the movement of the six-degree-of-freedom motion platform 1 to simulate the dynamic attitude of the airship;

[0166] Step S4: During the motion of the six-degree-of-freedom motion platform 1, the task load 01 is operated and the load performance data of the task load 01 is recorded synchronously.

[0167] Step S5: Time-align the recorded load performance data with the attitude trajectory data to analyze the working performance of task load 01 under dynamic attitude.

[0168] In this embodiment, the task load testing method follows the "data-driven - motion reproduction - performance verification" model, forming a five-step closed-loop process.

[0169] First, step S1 obtains real attitude trajectory data from the airship's historical flight records or wind field simulations, providing an input source for subsequent ground reproduction. Step S2 quickly fixes the mission payload 01 using the payload mounting frame 21, simulating the actual installation of the mission payload 01. Step S3 parses the trajectory data into servo commands for the six-degree-of-freedom motion platform 1, enabling the motion platform 12 to accurately reproduce the airship's coupled dynamics such as roll, pitch, and yaw. Step S4 starts the mission payload 01 while the platform is continuously moving, and simultaneously records its image jitter, pointing error, power consumption, and other payload performance data, achieving seamless integration of "movement-sampling". Step S5 aligns the two types of data using a unified timestamp, allowing analysts to directly observe "how many milliseconds the image blur increases corresponding to the peak platform pitch angular velocity at a certain moment," thereby quantifying the specific impact of dynamic attitude on payload performance and completing a high-confidence ground equivalent verification.

[0170] In some embodiments, the task load testing method further includes:

[0171] Step S6: The attitude information is measured in real time by the attitude acquisition unit 5 set on the six-degree-of-freedom motion platform 1 to generate an attitude data stream.

[0172] In this embodiment, step S6 deploys the attitude acquisition unit 5 locally on the platform to output a high-frequency attitude data stream in real time, providing a benchmark for subsequent loop closure and alignment.

[0173] Step S1, the step of acquiring the attitude trajectory data of the aerostat, includes at least one of the following steps:

[0174] Step S101: Acquire flight records collected by sensors installed on the airship and convert the flight records into attitude trajectory data;

[0175] Step S102: Based on the wind field model and mooring parameters of the airship, attitude trajectory data is generated through simulation calculation and solution.

[0176] In this embodiment, steps S101 and S102 respectively provide two types of trajectory sources: "actual measurement" and "predicted", so that the same set of ground stations can not only reproduce the past flight history, but also rehearse extreme wind fields, thus expanding the test coverage.

[0177] Step S3, the steps for controlling the motion of the six-degree-of-freedom motion platform 1, include:

[0178] Step S301: Perform inverse kinematics calculation on the attitude trajectory data to generate control commands for driving the six-degree-of-freedom motion platform 1;

[0179] Step S302: Use the real-time feedback of the attitude acquisition unit 5 to perform closed-loop control, and perform error correction and trajectory tracking optimization on the motion of the six-degree-of-freedom motion platform 1.

[0180] In this embodiment, step S301 converts the trajectory into the elongation of the six servo drive branches 13 through inverse kinematics solution. Step S302 then uses the attitude data stream as feedback to correct the tracking error cycle by cycle, forming a high-rigidity, low-hysteresis hardware closed loop to ensure that the angle-time curve of the moving platform 12 almost coincides with the desired trajectory.

[0181] Step S4, which involves synchronously recording the load performance data of task load 01, includes:

[0182] It also records the load performance data of task payload 01 and the attitude data stream generated by attitude acquisition unit 5 simultaneously.

[0183] Step S5, which involves aligning the recorded load performance data with the attitude trajectory data over time, includes:

[0184] The ROS software architecture provides a unified timestamp for attitude data streams and payload performance data.

[0185] Step S5, the step for analyzing the performance of mission payload 01 under dynamic attitude, includes at least one of the following steps:

[0186] Based on time-aligned data, analyze the pointing accuracy of mission payload 01;

[0187] Based on time-aligned data, the image stability of task payload 01 is analyzed;

[0188] Based on time-aligned data, the target tracking algorithm for task payload 01 is validated or trained.

[0189] In this embodiment, step S4 requires the synchronous recording of load performance data and attitude data stream. Step S5 uses the unified timestamp built into ROS to compress multiple types of heterogeneous data into the same bag file, achieving millisecond-level alignment and eliminating subjective bias caused by manual alignment.

[0190] Ultimately, the analysis unit can directly extract three key indicators from the aligned dataset: pointing accuracy, image stability, or tracking algorithm confidence. Pointing accuracy is obtained by comparing the "command attitude angle - measured load pointing angle" to obtain the static and dynamic error envelopes. Image stability is calculated using the offset of feature points between adjacent frames and the angular velocity at the same time. The target tracking algorithm takes the platform attitude disturbance as input and uses the payload output miss distance for online verification or neural network training. The entire method completes the full-link reproduction of "real motion - real-time recording - indicator quantification" on the ground, significantly reducing the number of field test flights and costs.

[0191] Therefore, the task load testing system 100 and method provided in this application have the following advantages.

[0192] 1. The test environment has high fidelity and comprehensive dynamic simulation.

[0193] Solving the problem of "test environment distortion": The six-degree-of-freedom motion platform 1 reproduces the six-degree-of-freedom coupled motion of real flight, placing the load on a "motion base platform", which overcomes the shortcomings of static platforms or low-degree-of-freedom turntables in simulating complex dynamic coupling effects.

[0194] 2. The motion is closer to real working conditions.

[0195] It can execute attitude trajectories derived from real flight, and the platform's motion stroke is optimized for typical dynamics (low frequency, large amplitude) of airships. Compared with vibration tables that can only perform high-frequency small displacement vibrations, it can more realistically reflect the working state of the load in actual wind field environments.

[0196] 3. It has strong testing capabilities and comprehensive evaluation dimensions.

[0197] Solving the problem of "difficult performance evaluation": It can systematically evaluate the core performance of the load under dynamic attitude, such as pointing accuracy, image stabilization capability, target tracking algorithm effectiveness, vibration tolerance, etc., which are difficult to accurately examine in static or simple motion tests.

[0198] 4. Supports comprehensive testing of multiple loads.

[0199] The modular load mount 21 allows for the simultaneous installation of multiple devices (such as optoelectronic, radar, and communication antennas), facilitating comprehensive testing such as multi-sensor collaboration and electromagnetic compatibility, overcoming the limitations of traditional platforms in terms of limited load-bearing capacity and inability to perform combined device testing.

[0200] 5. High testing efficiency and resource saving.

[0201] Integrated testing replaces multiple decentralized testing: This system can complete multi-dimensional dynamic performance testing with a single setup, replacing the existing technology that requires multiple decentralized tests such as static, swaying, and vibration tests in sequence. This avoids repeated disassembly and assembly of equipment, saving time and manpower costs.

[0202] 6. Controllable and repeatable.

[0203] The test conditions (motion trajectory) can be precisely controlled and repeated an unlimited number of times, which facilitates comparative tests, parameter optimization and fault reproduction, significantly improving the efficiency of research and development and verification, and reducing the reliance on high-risk and uncontrollable external field tests.

[0204] 7. High data quality, which is conducive to in-depth analysis and algorithm development.

[0205] Provides accurate time synchronization data: The ROS-based synchronization acquisition mechanism ensures that the platform attitude at every moment corresponds strictly with all load output data, providing a reliable basis for quantitative performance analysis.

[0206] 8. Facilitates the construction of labeled datasets.

[0207] The synchronously recorded attitude data can serve as precise annotations for sensor data (such as images and point clouds), which can be directly used for the training and validation of machine learning algorithms, accelerating the development of intelligent payloads or processing algorithms.

[0208] 9. The system has strong scalability and adaptability.

[0209] The modular mechanical structure and standardized interface design enable the system to quickly adapt to loads of different sizes, types and combinations, meet the testing needs of new loads in the future, and extend the life cycle of the testing platform.

[0210] It should be noted that many of the components mentioned in this application are general standard parts or components known to those skilled in the art, and their structure and principle can be learned by those skilled in the art through technical manuals or through conventional experimental methods.

[0211] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0212] The task load testing system and method provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and its core ideas. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A mission load testing system, characterized in that, include: A six-degree-of-freedom motion platform is used to provide six degrees of freedom for attitude simulation of mission payloads; A load mounting unit is disposed on the six-degree-of-freedom motion platform, and the load mounting unit is used to mount the task load; A motion control unit is signal-connected to the six-degree-of-freedom motion platform, and the motion control unit is used to control the motion of the six-degree-of-freedom motion platform according to the attitude trajectory data; A data recording unit is used to connect to the mission payload signal. The data recording unit records the payload performance data from the mission payload and aligns the payload performance data with the attitude trajectory data in time.

2. The mission load testing system according to claim 1, characterized in that, The six-degree-of-freedom motion platform is a Stewart platform, which includes: Static platform; A moving platform is provided for the load mounting unit to be installed; Six retractable servo drive chains are connected at both ends to the static platform and the moving platform, respectively. The servo drive chains are controlled by the motion control unit to achieve six degrees of freedom motion.

3. The mission load testing system according to claim 1, characterized in that, The load mounting unit includes: The load mounting bracket is equipped with multiple mounting structures for mounting mission loads; An adapter frame connects the six-degree-of-freedom motion platform to the load mounting frame.

4. The mission load testing system according to claim 3, characterized in that, The adapter frame uses low-frequency vibration isolation elements, which are used to attenuate the high-frequency vibrations transmitted from the six-degree-of-freedom motion platform to the load mounting frame, so that the task load responds to low-frequency changes. And / or, The load mounting unit further includes: Low-frequency vibration isolation elements are disposed between the adapter frame and the six-degree-of-freedom motion platform, or between the adapter frame and the load mounting frame; The low-frequency vibration isolation element is used to attenuate the high-frequency vibration transmitted from the six-degree-of-freedom motion platform to the load mounting frame, so that the task load responds to low-frequency changes.

5. The mission load testing system according to claim 1, characterized in that, It also includes an attitude acquisition unit, which is set on the six-degree-of-freedom motion platform. The attitude acquisition unit is used to measure the attitude information and displacement information of the six-degree-of-freedom motion platform in real time, and convert the attitude information and displacement information into a uniform format attitude data stream. The data recording unit is also signal-connected to the attitude acquisition unit. The data recording unit records the attitude data stream from the attitude acquisition unit and aligns the load performance data with the attitude data stream in time.

6. The mission load testing system according to claim 5, characterized in that, The motion control unit is also connected to the attitude acquisition unit. The motion control unit is used to perform closed-loop control using the real-time feedback from the attitude acquisition unit to perform error correction and trajectory tracking optimization for the motion control of the six-degree-of-freedom motion platform.

7. The mission load testing system according to claim 5, characterized in that, The data recording unit is configured based on the ROS software architecture to achieve time alignment by adding a unified timestamp to the payload performance data and attitude data stream.

8. The mission load testing system according to claim 1, characterized in that, The motion control unit is equipped with a trajectory analysis module, which is used to convert flight records into attitude trajectory data, or to calculate and generate attitude trajectory data based on wind field models and tethering parameters; and / or, The mission payload is any one or more combinations of photoelectric cameras, radar equipment, and communication antennas.

9. A method for testing mission load, characterized in that, The task load testing method, applied to the task load testing system as described in any one of claims 1 to 8, comprises: Step S1: Obtain the attitude trajectory data of the airship; Step S2: Install the task payload onto the payload mounting frame mounted on the six-degree-of-freedom motion platform; Step S3: Based on the attitude trajectory data, control the movement of the six-degree-of-freedom motion platform to simulate the dynamic attitude of the airship; Step S4: During the motion of the six-degree-of-freedom motion platform, operate the task load and synchronously record the load performance data of the task load; Step S5: Time-align the recorded load performance data with the attitude trajectory data to analyze the performance of the task load under dynamic attitude.

10. The task load testing method according to claim 9, characterized in that, The task load testing method also includes: Step S6: The attitude information is measured in real time by the attitude acquisition unit set on the six-degree-of-freedom motion platform to generate an attitude data stream; Step S1, the step of acquiring the attitude trajectory data of the aerostat, includes at least one of the following steps: Step S101: Acquire flight records collected by sensors installed on the airship, and convert the flight records into attitude trajectory data; Step S102: Based on the wind field model and mooring parameters of the airship, generate attitude trajectory data through simulation calculation and solution; Step S3, the step of controlling the motion of the six-degree-of-freedom motion platform, includes: Step S301: Perform inverse kinematics calculation on the attitude trajectory data to generate control commands for driving the six-degree-of-freedom motion platform; Step S302: Utilize the real-time feedback from the attitude acquisition unit to perform closed-loop control, thereby correcting errors and optimizing trajectory tracking of the motion of the six-degree-of-freedom motion platform. Step S4, which involves simultaneously recording the load performance data of the task payload, includes: Simultaneously record the load performance data of the task payload and the attitude data stream generated by the attitude acquisition unit; Step S5, the step of aligning the recorded load performance data with the attitude trajectory data in time, includes: The attitude data stream and the payload performance data are given a unified timestamp through the ROS software architecture; Step S5, the step for analyzing the performance of the mission payload under dynamic attitude, includes at least one of the following steps: Based on time-aligned data, the pointing accuracy of the task payload is analyzed; Based on time-aligned data, the image stability of the task payload is analyzed; The target tracking algorithm for the task payload is validated or trained based on time-aligned data.

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