Gimbal Stability Testing System Based on Motion Scenarios

Abstract

This invention discloses a gimbal stability testing system based on motion scenarios, belonging to the field of gimbal testing technology. The invention constructs a test scenario specification library, configures corresponding standard motion scenario parameter sets, and then generates corresponding multi-degree-of-freedom vibration excitation signals, which are applied to the gimbal under test. Based on the multi-degree-of-freedom vibration excitation signals, it collects data on the gimbal's stabilization off and stabilization on states, constructing a gimbal attitude response data sequence. The gimbal attitude response data sequence is input into the constructed gimbal stability evaluation model to obtain a comprehensive stability evaluation score. Based on the comprehensive stability evaluation score, it generates scene adaptability test evaluation results for the gimbal under test in various motion scenarios. This invention achieves quantitative testing and evaluation of gimbal stability under different motion scenarios, objectively reflecting the true stability performance of the gimbal in complex motion environments, and effectively improving the accuracy and scene coverage of gimbal product performance testing.

Description

Technical Field

[0001] This invention relates to the field of gimbal testing technology, specifically a gimbal stability testing system based on motion scenarios. Background Technology

[0002] As a core stabilization device in fields such as photography, drone aerial photography, security monitoring, and autonomous driving perception, the gimbal's core function is to isolate the disturbance of the imaging equipment caused by the movement of the carrier in order to maintain the stable pointing of the camera's line of sight. With the increasing diversification of application scenarios, the gimbal needs to adapt to a variety of complex dynamic scenarios.

[0003] How to systematically simulate composite excitations under different motion scenarios in the laboratory, and on this basis, quantitatively test and comprehensively evaluate the stability of the gimbal, has become a key issue that needs to be addressed in the field of gimbal R&D and quality testing. At present, the industry's testing methods for gimbal stability mainly rely on fixed-frequency sinusoidal vibration table tests or subjective evaluation by hand, which cannot comprehensively evaluate the stability of the gimbal, and it is also difficult to establish a quantitative mapping relationship between motion scenario parameters and gimbal stability performance, making the adaptive assessment of the gimbal under different motion scenarios lack a scientific basis.

[0004] The problem we need to solve is how to develop a comprehensive testing system that can realistically simulate various motion scenarios and objectively quantify gimbal attitude stability and image stability. To this end, we now provide a gimbal stability testing system based on motion scenarios. Summary of the Invention

[0005] The purpose of this invention is to provide a gimbal stability testing system based on motion scenarios.

[0006] The objective of this invention can be achieved through the following technical solution: a gimbal stability testing system based on motion scenarios, comprising the following:

[0007] The test scenario specification configuration module is used to build a test scenario specification library and configure the corresponding standard motion scenario parameter set;

[0008] The vibration excitation generation module is used to generate corresponding multi-degree-of-freedom vibration excitation signals based on a standard motion scenario parameter set, and apply them to the gimbal under test.

[0009] The attitude response acquisition module is used to acquire stabilization off-state data and stabilization on-state data of the gimbal under test based on the multi-degree-of-freedom vibration excitation signal, and then construct the gimbal attitude response data sequence.

[0010] The model building module is used to input the gimbal attitude response data sequence into the constructed gimbal stability evaluation model to obtain a comprehensive stability evaluation score.

[0011] The stability evaluation module is used to generate scene adaptability test evaluation results for the gimbal under test in various motion scenarios based on the comprehensive stability evaluation score.

[0012] Furthermore, the process of constructing the test scenario specification library by the test scenario specification configuration module includes:

[0013] A test scenario specification library is pre-built, which stores several standard test scenario types and standard test parameter templates corresponding to each standard test scenario type;

[0014] The standard test parameter template includes the corresponding triaxial vibration frequency range, triaxial vibration amplitude range, vibration duration, and vibration power spectral density function.

[0015] The triaxial vibration frequency range refers to the frequency range covered by vibration excitation in the pitch axis, roll axis, and yaw axis directions of the gimbal under test.

[0016] Furthermore, the process of configuring the corresponding standard motion scene parameter set includes:

[0017] Receive test parameter configuration instructions input by the tester, wherein the test parameter configuration instructions include a target test scenario type identifier and parameter adjustment information;

[0018] Based on the target test scenario type identifier, retrieve the corresponding standard test parameter template from the test scenario specification library, and modify the parameters in the standard test parameter template according to the parameter adjustment information:

[0019] If the parameter adjustment information is empty, the default parameter values ​​of the standard test parameter template will be used directly as the standard motion scene parameter set.

[0020] If the parameter adjustment information is not empty, the corresponding parameter items in the retrieved standard test parameter template will be replaced according to the parameter adjustment information. The replaced parameter items, together with other unmodified parameter items, constitute the standard motion scene parameter set.

[0021] The standard motion scenario parameter set includes the target triaxial vibration frequency range, the target triaxial vibration amplitude range, the target vibration duration, and the target vibration power spectral density function.

[0022] Furthermore, the process by which the vibration excitation generation module generates a corresponding multi-degree-of-freedom vibration excitation signal based on a standard motion scenario parameter set and applies it to the gimbal under test includes:

[0023] Perform an inverse power spectrum transform on the target vibration power spectral density function to obtain the corresponding time-domain vibration random sequence;

[0024] The time-domain vibration random sequence is frequency-constrained by a bandpass filter according to the target three-axis vibration frequency range, so that the frequency components of the filtered signal fall within the target three-axis vibration frequency range. Then, it is scaled according to the target three-axis vibration amplitude range to obtain the pitch axis vibration excitation signal, roll axis vibration excitation signal and yaw axis vibration excitation signal respectively.

[0025] The obtained pitch axis vibration excitation signal, roll axis vibration excitation signal and yaw axis vibration excitation signal are integrated into a three-axis vibration excitation signal;

[0026] The triaxial vibration excitation signals are time-aligned according to a unified time base, and the time-aligned triaxial vibration excitation signals are integrated into a multi-degree-of-freedom vibration excitation signal by vector superposition.

[0027] Furthermore, the process by which the attitude response acquisition module acquires stabilization off-state data and stabilization on-state data of the gimbal under test based on the multi-degree-of-freedom vibration excitation signal, and then constructs the gimbal attitude response data sequence includes:

[0028] Send a shutdown command to the active stabilization function of the gimbal under test to control the active stabilization function of the gimbal under test to enter the shutdown state, and collect the first attitude response data and the first inertial measurement data of the gimbal under test in the first test period at a preset sampling frequency.

[0029] The first attitude response data and the first inertial measurement data are marked as stabilization off state data;

[0030] After completing the acquisition of the first attitude response data and the first inertial measurement data, an activation command is sent to the active stabilization function of the gimbal under test to control the active stabilization function of the gimbal under test to enter the activated state.

[0031] With the active stabilization function enabled, the second attitude response data and the second inertial measurement data of the gimbal under test are collected at the same preset sampling frequency during the second test period. The second attitude response data and the second inertial measurement data are marked as data with stabilization enabled.

[0032] The multi-degree-of-freedom vibration excitation signal, stabilization off state data, and stabilization on state data are aligned according to timestamps to construct a gimbal attitude response data sequence.

[0033] Furthermore, the process of constructing a gimbal stability evaluation model includes:

[0034] A deep learning-based gimbal stability evaluation model is constructed and initialized.

[0035] Collect sample data, which includes historical gimbal attitude response data sequences of the gimbal under different motion scenario parameter sets, as well as gimbal stability score annotation data corresponding to each historical attitude response data sequence.

[0036] The collected sample data is divided into training and test sets;

[0037] The constructed gimbal stability evaluation model is trained using the training set to obtain training results. The training results are then verified using the test set. If the accuracy of the training results meets expectations, the training of the gimbal stability evaluation model is complete. If the training results do not meet expectations, the training is repeated until the training results meet expectations or the number of training iterations reaches the preset number, thus obtaining a fully trained gimbal stability evaluation model.

[0038] Furthermore, the process of obtaining the comprehensive stability evaluation score based on the gimbal stability evaluation model includes:

[0039] The obtained gimbal attitude response data sequence is input into the trained gimbal stability evaluation model, and the gimbal stability evaluation model outputs the comprehensive stability evaluation score and corresponding evaluation level of the gimbal attitude response data sequence.

[0040] Furthermore, the process by which the stability evaluation module generates the scene adaptability test evaluation results of the gimbal under test in various motion scenarios based on the comprehensive stability evaluation score includes:

[0041] Several different sets of standard motion scene parameters are used for the same gimbal under test to obtain the comprehensive stability evaluation score of the gimbal under test under each set of standard motion scene parameters, and a scene-stability test mapping table of the gimbal under test is constructed.

[0042] Based on the scenario-stability test mapping table, the stability change trend of the gimbal under test in different motion scenarios is identified. If the overall stability evaluation score in a certain motion scenario is lower than the preset stability qualification threshold, the corresponding motion scenario is marked as an unsuitable motion scenario for the gimbal under test and an early warning message is generated.

[0043] The average of the stability evaluation scores of the gimbal under test in all tested motion scenarios is calculated as the overall stability level of the gimbal under test, and the scene adaptability test evaluation results are generated.

[0044] Compared with the prior art, the beneficial effects of the present invention are: by constructing a test scenario specification library and configuring the corresponding standard motion scenario parameter set, the present invention achieves the standardization and reproducibility of test conditions, and provides a unified reference benchmark for gimbal stability testing;

[0045] This generates corresponding multi-degree-of-freedom vibration excitation signals, which are then applied to the gimbal under test. This can realistically simulate the complex vibration environment that the gimbal experiences in various actual motion scenarios, making the laboratory test conditions closer to real-world operating conditions and improving the correlation between test results and actual performance.

[0046] Based on the acquisition of stabilization off-state data and stabilization on-state data of the gimbal under test by multi-degree-of-freedom vibration excitation signal, a gimbal attitude response data sequence is constructed, realizing the separation and quantification of the inherent stability of the gimbal mechanical structure and the stabilization efficiency of the active stabilization function.

[0047] By inputting the gimbal attitude response data sequence into the constructed gimbal stability evaluation model, a comprehensive stability evaluation score is obtained. Based on the comprehensive stability evaluation score, the scene adaptability test evaluation results of the gimbal under test in various motion scenarios are generated, realizing an objective, quantitative, and repeatable evaluation of gimbal stability, and providing data support for defining the applicable scenarios of gimbal products and user selection.

[0048] This invention enables quantitative testing and evaluation of gimbal stability under different motion scenarios, objectively reflecting the true stability performance of the gimbal in complex motion environments, and effectively improving the accuracy and scenario coverage of gimbal product performance testing. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0050] Figure 1 This is a schematic diagram of the present invention. Detailed Implementation

[0051] like Figure 1 As shown, the gimbal stability testing system based on motion scenarios includes a test scenario specification configuration module, a vibration excitation generation module, an attitude response acquisition module, a model building module, and a stability evaluation module.

[0052] The test scenario specification configuration module is used to build a test scenario specification library and configure the corresponding standard motion scenario parameter set.

[0053] The vibration excitation generation module is used to generate corresponding multi-degree-of-freedom vibration excitation signals based on a standard motion scenario parameter set, and apply them to the gimbal under test.

[0054] The attitude response acquisition module is used to collect the data of the stabilization-off state and the stabilization-on state of the云台 to be tested according to the multi-degree-of-freedom vibration excitation signal, and then construct a云台 attitude response data sequence;

[0055] The model construction module is used to construct a云台 stability evaluation model and obtain a comprehensive stability evaluation score according to the云台 stability evaluation model;

[0056] The stability evaluation module is used to generate a scene adaptability test evaluation result of the云台 to be tested in each motion scenario according to the comprehensive stability evaluation score.

[0057] It should be further noted that in the specific implementation process, the process of the test scenario specification configuration module constructing the test scenario specification library includes:

[0058] Pre-construct a test scenario specification library, which stores several standard test scenario types and the corresponding standard test parameter templates for each standard test scenario type;

[0059] The standard test scenario types at least include a walking tracking scenario, a running motion scenario, a vehicle driving scenario, a drone flight scenario, and a ship navigation scenario;

[0060] The standard test parameter template includes the corresponding three-axis vibration frequency range, three-axis vibration amplitude range, vibration duration, and vibration power spectral density function;

[0061] Among them, the three-axis vibration frequency range refers to the frequency interval covered by the vibration excitation in the pitch axis direction, roll axis direction, and yaw axis direction of the云台 to be tested;

[0062] The vibration power spectral density function is used to describe the distribution characteristics of vibration energy in each frequency component.

[0063] It should be further noted that in the specific implementation process, the process of configuring the corresponding standard motion scenario parameter set includes:

[0064] Receive a test parameter configuration instruction input by the tester, where the test parameter configuration instruction contains a target test scenario type identifier and parameter adjustment information;

[0065] Retrieve the corresponding standard test parameter template from the test scenario specification library according to the target test scenario type identifier;

[0066] Modify the parameters in the standard test parameter template according to the parameter adjustment information:

[0067] If the parameter adjustment information is empty, directly use the default parameter values of the standard test parameter template as the standard motion scenario parameter set;

[0068] If the parameter adjustment information is not empty, the corresponding parameter items in the retrieved standard test parameter template will be replaced according to the parameter adjustment information. The replaced parameter items, together with other unmodified parameter items, constitute the standard motion scene parameter set.

[0069] The standard motion scenario parameter set includes the target triaxial vibration frequency range, the target triaxial vibration amplitude range, the target vibration duration, and the target vibration power spectral density function.

[0070] It should be further explained that, in the specific implementation process, the vibration excitation generation module generates a corresponding multi-degree-of-freedom vibration excitation signal based on the standard motion scene parameter set and applies it to the gimbal under test, including:

[0071] Perform an inverse power spectrum transform on the target vibration power spectral density function to obtain the corresponding time-domain vibration random sequence;

[0072] The inverse power spectrum transformation refers to the process of converting the target vibration power spectral density function in the frequency domain into a vibration signal in the time domain through inverse Fourier transform.

[0073] The time-domain vibration random sequence is frequency-constrained by a bandpass filter according to the target three-axis vibration frequency range, so that the frequency components of the filtered signal fall within the target three-axis vibration frequency range. Then, it is scaled according to the target three-axis vibration amplitude range to obtain the pitch axis vibration excitation signal, roll axis vibration excitation signal and yaw axis vibration excitation signal respectively.

[0074] The obtained pitch axis vibration excitation signal, roll axis vibration excitation signal and yaw axis vibration excitation signal are integrated into a three-axis vibration excitation signal;

[0075] The triaxial vibration excitation signals are time-aligned according to a unified time base, and the time-aligned triaxial vibration excitation signals are integrated into a multi-degree-of-freedom vibration excitation signal by vector superposition.

[0076] The vector superposition refers to combining the vibration amplitudes of three axes at the same moment according to their respective directions to generate the instantaneous vibration vector in three-dimensional space at that moment;

[0077] Specifically:

[0078] The instantaneous amplitude of the pitch axis vibration excitation signal is taken as the first component of the three-dimensional vibration vector;

[0079] The instantaneous amplitude of the roll shaft vibration excitation signal is used as the second component of the three-dimensional vibration vector;

[0080] The instantaneous amplitude of the yaw axis vibration excitation signal is taken as the third component of the three-dimensional vibration vector;

[0081] The instantaneous vibration vectors at each moment are arranged in chronological order to obtain multi-degree-of-freedom vibration excitation signals, and the multi-degree-of-freedom vibration excitation signals are applied to the gimbal under test through a multi-axis vibration excitation platform.

[0082] The multi-axis vibration excitation platform refers to an electromechanical actuator capable of simultaneously and independently applying vibration excitation in multiple spatial degrees of freedom directions.

[0083] It should be further explained that, in the specific implementation process, the process by which the attitude response acquisition module acquires the stabilization off-state data and stabilization on-state data of the gimbal under test based on the multi-degree-of-freedom vibration excitation signal, and then constructs the gimbal attitude response data sequence includes:

[0084] Send a shutdown command to the active stabilization function of the gimbal under test to control the active stabilization function of the gimbal under test to enter the shutdown state, and collect the first attitude response data and the first inertial measurement data of the gimbal under test in the first test period at a preset sampling frequency.

[0085] The active stabilization function is a function of the gimbal under test to suppress external disturbances and maintain the stability of the gimbal load line of sight by actively outputting adjustment torque through the motor. In the closed state, the motors of each axis of the gimbal under test do not actively output adjustment torque, but only respond by relying on the passive characteristics of the mechanical structure.

[0086] The first attitude response data and the first inertial measurement data are marked as stabilization off state data, and the duration of the first test period is set by the tester according to the vibration duration in the standard motion scenario parameter set;

[0087] After completing the acquisition of the first attitude response data and the first inertial measurement data, an activation command is sent to the active stabilization function of the gimbal under test to control the active stabilization function of the gimbal under test to enter the activated state.

[0088] With the active stabilization function enabled, the second attitude response data and second inertial measurement data of the gimbal under test are collected at the same preset sampling frequency during the second test period.

[0089] The second attitude response data and the second inertial measurement data are marked as stabilization enabled data, and the duration of the second test period is the same as the duration of the first test period.

[0090] The multi-degree-of-freedom vibration excitation signal, stabilization off state data, and stabilization on state data are aligned according to timestamps to construct a gimbal attitude response data sequence.

[0091] It should be further explained that, in the specific implementation process, the process of constructing the gimbal stability evaluation model includes:

[0092] A deep learning-based gimbal stability evaluation model is constructed and initialized.

[0093] Collect sample data, which includes historical gimbal attitude response data sequences of the gimbal under different motion scenario parameter sets, as well as gimbal stability score annotation data corresponding to each historical attitude response data sequence.

[0094] The collected sample data is divided into training and test sets;

[0095] The constructed gimbal stability evaluation model is trained using the training set to obtain training results. The training results are then verified using the test set. If the accuracy of the training results meets expectations, the training of the gimbal stability evaluation model is complete. If the training results do not meet expectations, the training is repeated until the training results meet expectations or the number of training iterations reaches the preset number, thus obtaining a fully trained gimbal stability evaluation model.

[0096] It should be further explained that, in the specific implementation process, the process of obtaining the comprehensive stability evaluation score based on the gimbal stability evaluation model includes:

[0097] The obtained gimbal attitude response data sequence is input into the trained gimbal stability evaluation model, and the gimbal stability evaluation model outputs the comprehensive stability evaluation score and corresponding evaluation level of the gimbal attitude response data sequence.

[0098] The evaluation level is determined based on the preset evaluation level range in which the comprehensive stability evaluation score falls. The preset evaluation level range includes four levels: excellent, good, average, and poor.

[0099] It should be further explained that, in the specific implementation process, the process by which the stability evaluation module generates the scene adaptability test evaluation results of the gimbal under test in various motion scenarios based on the comprehensive stability evaluation score includes:

[0100] Several different sets of standard motion scene parameters are used for the same gimbal under test to obtain the comprehensive stability evaluation score of the gimbal under test under each set of standard motion scene parameters, and a scene-stability test mapping table of the gimbal under test is constructed.

[0101] Based on the scenario-stability test mapping table, the stability change trend of the gimbal under test in different motion scenarios is identified. If the overall stability evaluation score in a certain motion scenario is lower than the preset stability qualification threshold, the corresponding motion scenario is marked as an unsuitable motion scenario for the gimbal under test and an early warning message is generated.

[0102] The average of the stability evaluation scores of the gimbal under test in all tested motion scenarios is calculated as the overall stability level of the gimbal under test, and the scene adaptability test evaluation results are generated.

[0103] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any modifications or equivalent substitutions made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A gimbal stability testing system based on motion scenarios, characterized in that, include: The test scenario specification configuration module is used to build a test scenario specification library and configure the corresponding standard motion scenario parameter set; The vibration excitation generation module is used to generate corresponding multi-degree-of-freedom vibration excitation signals based on a standard motion scenario parameter set, and apply them to the gimbal under test. The attitude response acquisition module is used to acquire stabilization off-state data and stabilization on-state data of the gimbal under test based on the multi-degree-of-freedom vibration excitation signal, and then construct the gimbal attitude response data sequence. The model building module is used to input the gimbal attitude response data sequence into the constructed gimbal stability evaluation model to obtain a comprehensive stability evaluation score. The stability evaluation module is used to generate scene adaptability test evaluation results for the gimbal under test in various motion scenarios based on the comprehensive stability evaluation score.

2. The gimbal stability testing system based on motion scenarios according to claim 1, characterized in that, The process of constructing the test scenario specification library by the test scenario specification configuration module includes: A test scenario specification library is pre-built, which stores several standard test scenario types and standard test parameter templates corresponding to each standard test scenario type; The standard test parameter template includes the corresponding triaxial vibration frequency range, triaxial vibration amplitude range, vibration duration, and vibration power spectral density function. The triaxial vibration frequency range refers to the frequency range covered by vibration excitation in the pitch axis, roll axis, and yaw axis directions of the gimbal under test.

3. The gimbal stability testing system based on motion scenarios according to claim 2, characterized in that, The process of configuring the corresponding standard motion scene parameter set includes: Receive test parameter configuration instructions input by the tester, wherein the test parameter configuration instructions include a target test scenario type identifier and parameter adjustment information; Based on the target test scenario type identifier, retrieve the corresponding standard test parameter template from the test scenario specification library, and modify the parameters in the standard test parameter template according to the parameter adjustment information: If the parameter adjustment information is empty, the default parameter values ​​of the standard test parameter template will be used directly as the standard motion scene parameter set. If the parameter adjustment information is not empty, the corresponding parameter items in the retrieved standard test parameter template will be replaced according to the parameter adjustment information. The replaced parameter items, together with other unmodified parameter items, constitute the standard motion scene parameter set. The standard motion scenario parameter set includes the target triaxial vibration frequency range, the target triaxial vibration amplitude range, the target vibration duration, and the target vibration power spectral density function.

4. The gimbal stability testing system based on motion scenarios according to claim 3, characterized in that, The process by which the vibration excitation generation module generates a corresponding multi-degree-of-freedom vibration excitation signal based on a standard motion scenario parameter set and applies it to the gimbal under test includes: Perform an inverse power spectrum transform on the target vibration power spectral density function to obtain the corresponding time-domain vibration random sequence; The time-domain vibration random sequence is frequency-constrained by a bandpass filter according to the target three-axis vibration frequency range, so that the frequency components of the filtered signal fall within the target three-axis vibration frequency range. Then, it is scaled according to the target three-axis vibration amplitude range to obtain the pitch axis vibration excitation signal, roll axis vibration excitation signal and yaw axis vibration excitation signal respectively. The obtained pitch axis vibration excitation signal, roll axis vibration excitation signal and yaw axis vibration excitation signal are integrated into a three-axis vibration excitation signal; The triaxial vibration excitation signals are time-aligned according to a unified time base, and the time-aligned triaxial vibration excitation signals are integrated into a multi-degree-of-freedom vibration excitation signal by vector superposition.

5. The gimbal stability testing system based on motion scenarios according to claim 4, characterized in that, The process by which the attitude response acquisition module acquires stabilization off-state data and stabilization on-state data of the gimbal under test based on multi-degree-of-freedom vibration excitation signals, and then constructs the gimbal attitude response data sequence includes: Send a shutdown command to the active stabilization function of the gimbal under test to control the active stabilization function of the gimbal under test to enter the shutdown state, and collect the first attitude response data and the first inertial measurement data of the gimbal under test in the first test period at a preset sampling frequency. The first attitude response data and the first inertial measurement data are marked as stabilization off state data; After completing the acquisition of the first attitude response data and the first inertial measurement data, an activation command is sent to the active stabilization function of the gimbal under test to control the active stabilization function of the gimbal under test to enter the activated state. With the active stabilization function enabled, the second attitude response data and the second inertial measurement data of the gimbal under test are collected at the same preset sampling frequency during the second test period. The second attitude response data and the second inertial measurement data are marked as data with stabilization enabled. The multi-degree-of-freedom vibration excitation signal, stabilization off state data, and stabilization on state data are aligned according to timestamps to construct a gimbal attitude response data sequence.

6. The gimbal stability testing system based on motion scenarios according to claim 5, characterized in that, The process of constructing a gimbal stability evaluation model includes: A deep learning-based gimbal stability evaluation model is constructed and initialized. Collect sample data, which includes historical gimbal attitude response data sequences of the gimbal under different motion scenario parameter sets, as well as gimbal stability score annotation data corresponding to each historical attitude response data sequence. The collected sample data is divided into training and test sets; The constructed gimbal stability evaluation model is trained using the training set to obtain training results. The training results are then verified using the test set. If the accuracy of the training results meets expectations, the training of the gimbal stability evaluation model is complete. If the training results do not meet expectations, the training is repeated until the training results meet expectations or the number of training iterations reaches the preset number, thus obtaining a fully trained gimbal stability evaluation model.

7. The gimbal stability testing system based on motion scenarios according to claim 6, characterized in that, The process of obtaining the comprehensive stability evaluation score based on the gimbal stability evaluation model includes: The obtained gimbal attitude response data sequence is input into the trained gimbal stability evaluation model, and the gimbal stability evaluation model outputs the comprehensive stability evaluation score and corresponding evaluation level of the gimbal attitude response data sequence.

8. The gimbal stability testing system based on motion scenarios according to claim 7, characterized in that, The process by which the stability evaluation module generates scene adaptability test evaluation results for the gimbal under various motion scenarios based on the comprehensive stability evaluation score includes: Several different sets of standard motion scene parameters are used for the same gimbal under test to obtain the comprehensive stability evaluation score of the gimbal under test under each set of standard motion scene parameters, and a scene-stability test mapping table of the gimbal under test is constructed. Based on the scenario-stability test mapping table, the stability change trend of the gimbal under test in different motion scenarios is identified. If the overall stability evaluation score in a certain motion scenario is lower than the preset stability qualification threshold, the corresponding motion scenario is marked as an unsuitable motion scenario for the gimbal under test and an early warning message is generated. The average of the stability evaluation scores of the gimbal under test in all tested motion scenarios is calculated as the overall stability level of the gimbal under test, and the scene adaptability test evaluation results are generated.

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