The invention discloses a small unmanned-rotorcraft
gyroscope structure test
system based on a six-dimensional
force sensor. The small unmanned-rotorcraft
gyroscope structure test
system comprises: athree-degree-of-freedom motion
test platform based on a triaxial
gyroscope structure, which is used for testing three-degree-of-freedom arbitrary motions of pitching, rolling and yawing of a small unmanned craft; an unmanned craft state measurement module based on a multi-source sensor combination, which comprises a six-dimensional
force sensor, an inertial attitude sensor and an unmanned craft external sensor; a
test platform ground station control module, which comprises a
flight controller and a
test platform controller and is used for operating a plurality of motion
modes of the unmanned craft and an
observation parameter model of a measurement platform to realize
motion measurement, state
perception,
data transmission and PC-side
visualization for the unmanned craft; and a multi-
source data fusion and analysis principle model. The small unmanned-rotorcraft gyroscope structure test
system provided by the invention can meet the demand for the functions of three-degree-of-freedom motion state
estimation and indoor training of a tiny unmanned rotorcraft, and realizes flight attitude
estimation, vibration analysis, actual motion display and indoor
flight training of the unmanned craft.