CN116409471B - Tethered fire-extinguishing unmanned aerial vehicle attitude track control performance test method - Google Patents
Tethered fire-extinguishing unmanned aerial vehicle attitude track control performance test method Download PDFInfo
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Abstract
A tethered fire-extinguishing unmanned aerial vehicle gesture track control performance test method belongs to the unmanned aerial vehicle test technical field, and comprises the following steps: step S01: setting a spherical target at the top of the test environment; three circular targets distributed in an equilateral triangle shape are arranged on the bottom surface of the test environment; step S02: setting a laser projector at the bottom of the center of the body of the unmanned aerial vehicle to be tested; step S03: placing the unmanned aerial vehicle to be tested on the bottom surface of the test environment; step S04: the invention can realize the test of the performance of the tethered fire-extinguishing unmanned aerial vehicle, and the test method is convenient to operate and has consistency and reproducibility.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle testing, and particularly relates to a tethered fire-extinguishing unmanned aerial vehicle attitude track control performance testing method.
Background
The super high-rise building has the characteristics of large scale, multiple functions, dense personnel and the like, so that the problems of high fire risk, high extinguishing difficulty, serious accident loss and the like exist, the existing fire-fighting equipment and means are difficult to meet the fire-extinguishing requirement of the super high-rise building, and the problems of' being unable to be equipped, unfolded and covered, unable to be reached, and the like exist.
Because the tethered fire extinguishing unmanned aerial vehicle has the characteristics of high response speed, small operation field, good operation maneuverability, large operation range and the like, the fire extinguishing agent can be sprayed in a short distance, the fire extinguishing operation risk of fire rescue workers is reduced, and the high-load tethered unmanned aerial vehicle vertically conveys the fire extinguishing agent to be an important break for solving the fire extinguishing problem of the super high-rise building.
Around tethered fire-fighting unmanned aerial vehicle actual combat requirement, the flying operation safety is always the most important problem of the product, and is also a precondition for ensuring the wide application of the product. At present, relevant technical standards for unmanned aerial vehicle operation are mainly divided into two major types, one type is general technical requirements for unmanned aerial vehicle systems, the guidance principle and the theoretical concept are mainly used, the operability and pertinence are lacking, and the safety performance of the tethered unmanned aerial vehicle for fire extinguishment is difficult to quantitatively detect; the other category is the technical requirement for specific performance of a certain aspect of the fire-fighting unmanned aerial vehicle, mainly comprises index measurement and grade evaluation, lacks of integrity and usability, and is difficult to determine which standard is met and which index-reaching products can serve the actual combat of fire-fighting team equipment.
The existing standard requirements for the gesture and track control performance of the multi-rotor unmanned aerial vehicle mainly comprise: from horizontal control performance test, vertical control performance test, heading control performance test, altitude hold performance test, speed hold performance test, etc., but the above-mentioned inspection methods have the following drawbacks:
(1) Only the technical parameter requirements of the test or the simple test process are given, no definite test environment, test equipment, test arrangement, test method and judgment rules are provided for the compliance of the performance requirements, and standardized product performance evaluation with operability, consistency, reproducibility and repeatability cannot be realized.
(2) The method only evaluates a single performance parameter in a specific flight state in a fire extinguishing task section, is a general method suitable for various multi-rotor unmanned aerial vehicles, and has one-sided technical indexes and lack of pertinence in technical requirements. In the actual combat application process of the tethered fire-extinguishing unmanned aerial vehicle, the gesture track control performance is generally comprehensively represented in a typical task section: the existing standard requirements cannot be well applied to the tethered fire-fighting unmanned aerial vehicle attitude track control performance test.
Disclosure of Invention
In view of the above-mentioned shortcomings and disadvantages of the prior art, the invention provides a tethered fire-fighting unmanned aerial vehicle attitude track control performance test method, which is based on a typical task section of attitude track control performance in the tethered fire-fighting unmanned aerial vehicle actual combat application process, so as to realize the performance test of the tethered fire-fighting unmanned aerial vehicle.
In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:
a tethered fire-fighting unmanned aerial vehicle gesture track control performance test method comprises the following steps:
step S01: a spherical target is arranged at the top of the test environment, so that the distance from the center of the spherical target to the bottom surface of the test environment ishThe method comprises the steps of carrying out a first treatment on the surface of the Three circular targets distributed in an equilateral triangle are arranged on the bottom surface of the test environment, so that the vertical projection of the spherical targets at the top is positioned at the center of the equilateral triangle;
step S02: arranging a laser projector at the bottom of the center of the body of the unmanned aerial vehicle to be tested, wherein the laser projector is provided with a forward laser beam which is vertically downward relative to the forward laser beam and the pointing direction of the unmanned aerial vehicle to be tested;
step S03: placing the unmanned aerial vehicle to be tested on the bottom surface of the test environment, and enabling the projection point of the downward laser beam to be positioned at one of the round target bulls-eye;
step S04: enabling the unmanned aerial vehicle to be tested to vertically take off, and judging whether light spots of downward laser beams are always positioned in the range of the current round target surface;
step S05: when the unmanned aerial vehicle to be tested rises to be away from the bottom surface of the test environmenthAt the height, judging whether the hovering height of the unmanned aerial vehicle sample to be tested is athTolerance ranges of (2); adjusting the gesture of the unmanned aerial vehicle to be detected, facing the forward laser beam to the spherical target, judging whether the forward laser beam light spot is always positioned on the spherical target, and simultaneously judging whether the downward laser beam light spot is always positioned in the range of the target surface of the current circular target;
step S06: after the current state hovering designated time is kept, the unmanned aerial vehicle to be detected is operated to keep the current flying height to fly horizontally to the upper part of the next round target along the track limit path in the clockwise or anticlockwise direction, in the horizontal flying process, whether forward laser beam light spots are always positioned on the round target is judged, when the unmanned aerial vehicle to be detected flies to the upper part of the round target, whether downward laser beam light spots are positioned on the round target is judged, whether a horizontal flying route is within the track limit range is judged, and whether the hovering height of a sample of the unmanned aerial vehicle to be detected is always positionedhTolerance ranges of (2); judging whether the completion time of target transfer is in the range oftWithin (1), whereintFor the period of position conversion, i.e. to be measuredThe unmanned aerial vehicle transfers from a certain appointed position to the next appointed position and stabilizes the upper time limit required by the appointed time;
step S07: repeating the step S06 to realize the target position transfer again until the unmanned aerial vehicle to be tested returns to the position above the initial round target;
step S08: and operating the unmanned aerial vehicle to be detected to drop onto the initial circular target, and judging whether the downward laser beam light spot is always positioned on the circular target in the dropping process.
Further, the side length of the equilateral triangle surrounded by the round targets isWhereinlThe specific pointing point is the intersection point of the pointing direction right in front of the unmanned aerial vehicle nose to be detected and the target object.
Further, the saidlSatisfy the following requirementsl>2(r+s) WhereinrIs the outline radius of the unmanned aerial vehicle to be measured,sfor the gesture precision, namely the distance between a specific pointing point and an expected target point of the unmanned aerial vehicle to be tested under the condition of a specific flying height, wherein the specific flying height is the flying height of the unmanned aerial vehicle to be tested, which is regulated before the test startshThe expected target point is the expected target point when the target task of the unmanned aerial vehicle to be detected is to point to a certain target point.
Further, the spherical target diameter is determined according to the attitude accuracy s, and the spherical target diameter is 2s.
Further, the circular target diameter is based on track accuracydConfirm that the diameter of the round target is 2dIn which track accuracydIn order to ensure that the unmanned aerial vehicle to be tested is in a specific flying height, the distance between the projection position of the bottom surface of the test environment and the expected position is the expected position when the target task of the unmanned aerial vehicle to be tested hovers above a certain ground target point or flies horizontally along a certain ground target line, wherein the target point or the target line is the expected position, and the specific flying height is the specified flying height of the unmanned aerial vehicle to be tested before the test beginsHeighth。
Further, the track boundary is formed by arranging a width of 2 with each side of the triangle as a central line in an equilateral triangle formed by three round targetsdTrack-defining range of (2), wherein track accuracydThe method comprises the step that under the condition of a specific fly height, the unmanned aerial vehicle to be tested is in a distance between a projection position of the bottom surface of a test environment and an expected position, wherein the expected position is the expected position when a target task of the unmanned aerial vehicle to be tested hovers above a certain ground target point or flies horizontally along a certain ground target line.
Further, a laser range finder is arranged at the bottom of the body of the unmanned aerial vehicle to be measured and is used for measuring the distance between the unmanned aerial vehicle to be measured and the bottom surface.
Further, the beam diameter emitted by the laser projector is 5 mm-20 mm.
Further, a monitoring device is arranged in the test environment, the monitoring range of the monitoring device covers the limited range of the unmanned aerial vehicle to be tested, the spherical target, the round target and the track, and the laser spots are clearly identified.
Further, a monitoring device is employed to determine whether the laser beam is located on a circular target, a spherical target, and a fly-flat path within the flight path limit.
The beneficial effects of the invention are as follows:
the invention provides a tethered fire-extinguishing unmanned aerial vehicle attitude track control performance test method, which is a standardized attitude track control performance evaluation method based on a typical task profile, and can be used for examining basic operation performances such as fixed-point hovering capacity, track control capacity, attitude maintenance capacity and the like of a tethered fire-extinguishing unmanned aerial vehicle. The testing method is convenient to operate and has consistency and reproducibility.
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FIG. 1 is a schematic front view of a tethered fire suppression unmanned aerial vehicle attitude track control performance test method arrangement of the present invention;
fig. 2 is a schematic plan view of the tethered fire suppression unmanned aerial vehicle attitude track control performance test method arrangement of the present invention.
[ reference numerals description ]
1 is a spherical target, 2 is a spherical target lifting rope, 3 is an unmanned aerial vehicle to be tested, 4 is a laser projector, 5 is a laser beam emitting direction, 6 is a circular target, and 7 is a track boundary.
Detailed Description
The invention will be better explained by the following detailed description of the embodiments with reference to the drawings.
The invention provides a tethered fire-fighting unmanned aerial vehicle attitude and track control performance test method, which is designed based on a typical task profile and aims at the problems of flight attitude and track control possibly faced in the operation process of the tethered fire-fighting unmanned aerial vehicle, and basic operation performances such as fixed-point hovering capability, track control capability, attitude maintenance capability and the like of the unmanned aerial vehicle are mainly studied.
In the actual combat application process of the tethered fire-extinguishing unmanned aerial vehicle, the gesture track control performance is generally comprehensively reflected in a typical task section: the invention provides a method for testing a typical task profile of a tethered fire-extinguishing unmanned aerial vehicle in the actual combat application process in a targeted manner, which comprises the following four stages: the main points and the implementation scheme of the device are as follows:
(1) Rising stage: and (5) inspecting the fixed-point climbing and hovering stability performance of the unmanned aerial vehicle in an indirect visual state. The laser projector 4 is arranged on the body of the unmanned aerial vehicle 3 to be tested to emit downward laser beams and the circular target 6 is arranged, so that the position stability test in the ascending and hovering processes is realized; the hovering height stability test is realized by installing a downward laser range finder on the body of the unmanned aerial vehicle 3 to be tested.
(2) Aiming stage: and (5) inspecting the pointing aiming performance of the unmanned aerial vehicle in an indirect visual state. The laser projector 4 is arranged on the body of the unmanned aerial vehicle 3 to be tested to emit forward laser beams and the spherical target 1 is arranged, so that the aim aiming performance test of the ignition point target is realized.
(3) And (3) displacement stage: and (5) observing the dynamic aiming and track maintenance performance of the unmanned aerial vehicle in an indirect visual state. The unmanned aerial vehicle 3 to be tested is provided with a laser projector 4 to emit downward laser beams, a group of round targets 6 and track boundaries 7, so that the flight track control performance and the position conversion time are tested; the laser projector 4 capable of emitting forward laser beams and the spherical target 1 are arranged on the body of the unmanned aerial vehicle 3 to be tested, so that the dynamic pointing aiming performance test of the fire point target is realized; the hovering height stability test is realized by installing a laser range finder on the body of the unmanned aerial vehicle 3 to be tested.
(4) Landing stage: and (5) inspecting the fixed-point landing performance of the unmanned aerial vehicle in an indirect visual state. The laser projector 4 is arranged on the body of the unmanned aerial vehicle 3 to be tested to emit downward laser beams and the circular target 6 is arranged, so that the position stability test in the landing process is realized.
The laser beam emission direction 5 comprises a forward laser beam and a downward laser beam, wherein the forward laser beam is the direction of the laser beam pointing to the right front direction of the unmanned plane 3 to be tested; the downward laser beam is the direction of the laser beam pointing vertically downward relative to the unmanned aerial vehicle 3 to be tested.
The method specifically comprises the following steps:
step S01: a spherical target 1 is arranged at the top of the test environment, so that the distance from the sphere center of the spherical target 1 to the bottom surface of the test environment ishThe method comprises the steps of carrying out a first treatment on the surface of the Three circular targets 6 distributed in an equilateral triangle are arranged on the bottom surface of the test environment, so that the vertical projection of the spherical target 1 at the top is positioned at the center of the equilateral triangle, as shown in fig. 1-2.
Specifically, the spherical target 1 may be secured to the top of the test environment by a spherical target sling 2. Wherein the external radius of the unmanned aerial vehicle 3 to be measuredr: with the center point of the unmanned aerial vehicle as the center of sphere, the unmanned aerial vehicle 3 body to be tested can be totally arrangedThe smallest sphere included radius. Fly heighth: the unmanned aerial vehicle 3 to be tested hovers at fixed points or is in a plane flying state according to a specified track, and the specific position of the machine body is at a height from the bottom surface. Track accuracyd: under the condition of a specific fly height, the unmanned aerial vehicle 3 to be tested is at a distance between a horizontal bottom surface projection position and an expected position, wherein the expected position is the expected position when a target task of the unmanned aerial vehicle to be tested hovers above a certain ground target point or flies horizontally along a certain ground target line. Attitude accuracys: the unmanned aerial vehicle 3 to be tested is at a distance between a specific pointing point and an expected target point under a specific fly height condition, wherein the specific fly height is the fly height of the unmanned aerial vehicle to be tested specified before the test startshThe expected target point is the expected target point when the target task of the unmanned aerial vehicle to be detected is to point to a certain target point.
Position conversion cyclet: the unmanned aerial vehicle 3 to be tested is transferred from a certain designated position to the next designated position and stabilizes the upper limit of time required for the designated time. Pointing distancel: the distance between the center point of the unmanned aerial vehicle 3 to be measured and the specific pointing point in the pointing direction right in front of the machine head (the requirement is satisfiedl>2(r+s) The specific pointing point is an intersection point of the pointing direction right in front of the unmanned aerial vehicle head to be detected and the target object. Spherical target 1: diameter of 2sAccording to the requirements of attitude precision, determining the radius of the spherical target 1; the arrangement mode is that the ball is hoisted at the top of the test environment through a tie line, and the distance from the center of the ball to the bottom surface of the environment to be tested is ensured to beh. Circular target 6: diameter of 2dIs arranged in such a way that 3 circular targets 6 are arranged on the bottom surface, the centers of the circles being located at the 3 vertices of the above-mentioned equilateral triangle, respectively.
Step S02: the laser projector 4 is arranged at the bottom of the center of the body of the unmanned aerial vehicle 3 to be tested, and the laser projector 4 is provided with a downward laser beam which emits a forward laser beam and a pointing direction vertically downward relative to the right front of the unmanned aerial vehicle 3 to be tested.
Wherein the laser projector 4 can emit a red or green laser beam, and the laser beam should be ensured inlAndhthe target surface with the distance generates continuous clear light spots, the diameter of the light spots is 5 mm-20 mm, and the light spots are arranged right below the center of the unmanned aerial vehicle body and rigidly fixed with the unmanned aerial vehicle 3 body to be tested.
Step S03: placing the unmanned aerial vehicle 3 to be tested on the bottom surface of the test environment, and enabling the projection point of the downward laser beam to be positioned at the target center of one of the circular targets 6;
step S04: enabling the unmanned aerial vehicle 3 to be tested to vertically take off, and judging whether the light spot of the downward laser beam is always positioned in the target surface range of the current circular target 6;
step S05: when the unmanned aerial vehicle 3 to be tested rises to be away from the bottom surface of the test environmenthAt the height, judging whether the hovering height of the 3-sample of the unmanned aerial vehicle to be tested is at the positionhTolerance ranges of (2); adjusting the gesture of the unmanned aerial vehicle to be detected, facing the forward laser beam to the spherical target 1, judging whether the forward laser beam light spot is always positioned on the spherical target 1, and simultaneously judging whether the downward laser beam light spot is always positioned in the target surface range of the current circular target 6;
step S06: after the hovering specified time in the current state is maintained, the unmanned aerial vehicle 3 to be tested is operated to keep the current flying height to fly horizontally to the upper part of the next round target 6 along the path of the flight path limit 7 in the clockwise or anticlockwise direction, in the horizontal flying process, whether the forward laser beam light spot is always positioned on the spherical target 1 is judged, when the unmanned aerial vehicle to be tested flies to the upper part of the round target, whether the downward laser beam light spot is positioned on the round target is judged, whether the horizontal flying path is within the range of the flight path limit 7 is judged, and whether the hovering height of the sample of the unmanned aerial vehicle 3 to be tested is always positioned in the range of the flight path limit 7 is judgedhTolerance ranges of (2); judging whether the completion time of target transfer is in the range oftWithin (1), whereintThe time upper limit is the position conversion period, namely the time upper limit required by the unmanned aerial vehicle to be tested to transfer from a certain designated position to the next designated position and stabilize the designated time.
Wherein the track limit 7 is defined by a side length surrounded by three circular targets 6In the equilateral triangle of (2), the width is 2 by taking each side of the triangle as the central linedIs limited in range.
Step S07: repeating the step S06 to realize the target position transfer again until the unmanned aerial vehicle 3 to be tested returns to the position above the initial round target 6;
step S08: and operating the unmanned aerial vehicle 3 to be detected to drop onto the initial circular target 6, and judging whether the downward laser beam light spot is always positioned on the circular target 6 in the dropping process.
Specifically, a laser range finder is arranged at the bottom of the body of the unmanned aerial vehicle 3 to be measured and is used for measuring the distance between the unmanned aerial vehicle 3 to be measured and the bottom surface. The laser range finder has the functions of measuring and recording the distance between the bottom surface of the body of the unmanned aerial vehicle 3 to be measured and the bottom surface of the test environment in real time (the installation position can be realized through data correction), the laser capable of emitting the laser for ranging is invisible light, and the measuring precision and the measuring environment are the same as those of the laserhRatio of (1), sampling periodtShould not be greater than the test tolerance requirements. The installation mode is to install in the unmanned aerial vehicle 3 organism below that awaits measuring, can set up in one side of laser projector 4, and with the organism rigidity fixed, and the laser beam that should satisfy the transmission be used for the range finding is with the direction of organism plane direction vertical downward for the direction of unmanned aerial vehicle 3 that awaits measuring.
Specifically, the monitoring equipment is arranged in the test environment, has the functions of real-time video image acquisition, storage and display, is arranged at the top or other positions of the test environment, and has a monitoring range covering the limited range of the unmanned aerial vehicle 3 to be tested, the spherical target 1, the circular target 6 and the track, and clearly identifies the laser spots. The present invention can employ a monitoring device to determine whether the laser beam is located within the circular target 6, the spherical target 1, and the flat flight path is within the flight path limit 7.
Specifically, a stopwatch is adopted to judge whether the completion time of each target transfer is controlled to betWithin the inner part.
And if the judgment result is yes, judging that the product is qualified, and if the product is no, judging that the product is not qualified.
The method is a standardized gesture track control performance evaluation method based on a typical task profile, can examine basic operation performances such as fixed point hovering capacity, track control capacity, gesture maintaining capacity and the like of the tethered fire extinguishing unmanned aerial vehicle, and realizes performance tests in aspects such as stability of hovering height of the tethered fire extinguishing unmanned aerial vehicle to be tested, aiming property of a fire target, flight track control, position conversion time, dynamic aiming property of the fire target, position stability in a landing process and the like.
While embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that alterations, modifications, substitutions and variations may be made by those of ordinary skill in the art without departing from the scope of the invention.
Claims (10)
1. The tethered fire-extinguishing unmanned aerial vehicle attitude track control performance test method is characterized by comprising the following steps of:
step S01: a spherical target is arranged at the top of the test environment, so that the distance from the center of the spherical target to the bottom surface of the test environment ishThe method comprises the steps of carrying out a first treatment on the surface of the Three circular targets distributed in an equilateral triangle are arranged on the bottom surface of the test environment, so that the vertical projection of the spherical targets at the top is positioned at the center of the equilateral triangle;
step S02: arranging a laser projector at the bottom of the center of the body of the unmanned aerial vehicle to be tested, wherein the laser projector is provided with a forward laser beam which is vertically downward relative to the forward laser beam and the pointing direction of the unmanned aerial vehicle to be tested;
step S03: placing the unmanned aerial vehicle to be tested on the bottom surface of the test environment, and enabling the projection point of the downward laser beam to be positioned at one of the round target bulls-eye;
step S04: enabling the unmanned aerial vehicle to be tested to vertically take off, and judging whether light spots of downward laser beams are always positioned in the range of the current round target surface;
step S05: when the unmanned aerial vehicle to be tested rises to be away from the bottom surface of the test environmenthAt the height, judging whether the hovering height of the unmanned aerial vehicle sample to be tested is athTolerance ranges of (2); adjusting the gesture of the unmanned aerial vehicle to be detected, facing the forward laser beam to the spherical target, judging whether the forward laser beam light spot is always positioned on the spherical target, and simultaneously judging whether the downward laser beam light spot is always positioned in the range of the target surface of the current circular target;
step S06: after the current state is kept for a specified time in a hovering mode, the unmanned aerial vehicle to be tested is operated to keep the current stateThe flying height flies horizontally to the upper part of the next round target along the track limit path in the clockwise or anticlockwise direction, in the process of flying horizontally, whether the forward laser beam light spot is always positioned on the round target is judged, when the unmanned aerial vehicle to be tested flies to the upper part of the round target, whether the downward laser beam light spot is positioned on the round target is judged, whether the plane flying path is within the track limit range is judged, and whether the hovering height of the sample of the unmanned aerial vehicle to be tested is always positionedhTolerance ranges of (2); judging whether the completion time of target transfer is in the range oftWithin (1), whereintThe position conversion period is the upper time limit required by the unmanned aerial vehicle to be detected to transfer from a certain designated position to the next designated position and stabilize the designated time;
step S07: repeating the step S06 to realize the target position transfer again until the unmanned aerial vehicle to be tested returns to the position above the initial round target;
step S08: and operating the unmanned aerial vehicle to be detected to drop onto the initial circular target, and judging whether the downward laser beam light spot is always positioned on the circular target in the dropping process.
2. The tethered fire suppression unmanned aerial vehicle attitude track control performance test method according to claim 1, wherein the method comprises the following steps: the side length of the equilateral triangle formed by the round targets isWhereinlThe pointing distance is the distance between the center point of the unmanned aerial vehicle to be detected and the pointing point in the pointing direction right in front of the machine head, wherein the pointing point is the intersection point of the pointing direction right in front of the machine head of the unmanned aerial vehicle to be detected and the target object.
3. The tethered fire suppression unmanned aerial vehicle attitude track control performance test method according to claim 2, wherein the method comprises the following steps: the saidlSatisfy the following requirementsl>2(r+s) WhereinrIs the outline radius of the unmanned aerial vehicle to be measured,sthe attitude precision is that the distance between the pointing point and the expected target point of the unmanned aerial vehicle to be tested under the condition of the flat flying height, wherein the flat flying height is the flat flying height of the unmanned aerial vehicle to be tested, which is regulated before the test startshIntended purpose ofThe punctuation is that when the target task of the unmanned aerial vehicle to be detected is to point to a certain target point, the target point is the expected target point.
4. A tethered fire suppression unmanned aerial vehicle attitude track control performance test method according to claim 3, wherein: the attitude accuracysDetermining the diameter of a spherical target, wherein the diameter of the spherical target is 2s。
5. The tethered fire suppression unmanned aerial vehicle attitude track control performance test method according to claim 1, wherein the method comprises the following steps: the diameter of the circular target is based on track accuracydConfirm that the diameter of the round target is 2dIn which track accuracydThe method is characterized in that the unmanned aerial vehicle to be tested is in a flat flying height condition, the distance between the projection position of the bottom surface of the test environment and the expected position is the distance between the projection position of the bottom surface of the test environment and the expected position, wherein the expected position is the expected position when the target task of the unmanned aerial vehicle to be tested hovers above a certain ground target point or flies horizontally along a certain ground target line, and the target point or the target line is the expected position, and the flat flying height is the flat flying height of the unmanned aerial vehicle to be tested, which is regulated before the test startsh。
6. The tethered fire suppression unmanned aerial vehicle attitude track control performance test method according to claim 1, wherein the method comprises the following steps: the track boundary is formed by arranging a width of 2 with each side of the triangle as a central line in an equilateral triangle formed by three round targetsdTrack-defining range of (2), wherein track accuracydThe method is characterized in that the distance between the projection position of the unmanned aerial vehicle to be tested on the bottom surface of the test environment and the expected position is the distance between the projection position of the unmanned aerial vehicle to be tested on the bottom surface of the test environment and the expected position, wherein the expected position is the expected position when the target task of the unmanned aerial vehicle to be tested hovers above a certain ground target point or flies horizontally along a certain ground target line.
7. The tethered fire suppression unmanned aerial vehicle attitude track control performance test method according to claim 1, wherein the method comprises the following steps: and a laser range finder is arranged at the bottom of the body of the unmanned aerial vehicle to be measured and is used for measuring the distance between the unmanned aerial vehicle to be measured and the bottom surface.
8. The tethered fire suppression unmanned aerial vehicle attitude track control performance test method according to claim 1, wherein the method comprises the following steps: the diameter of the light beam emitted by the laser projector is 5 mm-20 mm.
9. The tethered fire suppression unmanned aerial vehicle attitude track control performance test method according to claim 1, wherein the method comprises the following steps: and the monitoring equipment is arranged in the test environment, and the monitoring range of the monitoring equipment covers the limited range of the unmanned aerial vehicle to be tested, the spherical target, the round target and the track.
10. The tethered fire suppression unmanned aerial vehicle attitude track control performance test method of claim 9, wherein: a monitoring device is used to determine whether the laser beam is located on a circular target, a spherical target, and whether the fly line is within the flight path limit.
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